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

ESP8266/Server.h@40:0aa1cefe80ab, 2018-05-15 (annotated)

Committer:
edy05
Date:
Tue May 15 10:34:35 2018 +0000
Branch:
DistanceRegulation
Revision:
40:0aa1cefe80ab
Parent:
39:93d8aa47f4ce
Child:
41:5fe200d20022
some updates; sonics added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 2:d172c9963f87 1 #include "mbed.h"
edy05 2:d172c9963f87 2 #include "rtos.h"
edy05 9:86a5af9935b1 3 #include "hardware.h"
edy05 2:d172c9963f87 4
edy05 2:d172c9963f87 5
edy05 29:c35bcfe62c77 6 RawSerial esp(p13, p14); // tx, rx
edy05 32:c729e6da7f9a 7 DigitalOut reset(p11);
edy05 37:76bfd4e9c383 8 DigitalOut chd_dp(p10);
edy05 2:d172c9963f87 9
edy05 2:d172c9963f87 10 // Standard Mbed LED definitions
edy05 2:d172c9963f87 11 DigitalOut led1(LED1); // (PTB18)
edy05 2:d172c9963f87 12 DigitalOut led3(LED3); // (PTD1)
edy05 2:d172c9963f87 13
edy05 2:d172c9963f87 14 Timer t1;
edy05 2:d172c9963f87 15 Timer t2;
edy05 2:d172c9963f87 16
edy05 2:d172c9963f87 17 char cmdbuff[32];
edy05 2:d172c9963f87 18 char replybuff[1024];
edy05 2:d172c9963f87 19 char webcount[8];
edy05 34:5dca557e982f 20 char webdata[2048]; // This may need to be bigger depending on WEB browser used
edy05 34:5dca557e982f 21 char webbuff[8192]; // Currently using 1986 characters, Increase this if more web page data added
edy05 2:d172c9963f87 22 char type[16];
edy05 2:d172c9963f87 23 char channel[2];
edy05 2:d172c9963f87 24 char ip_address[20];
edy05 2:d172c9963f87 25 int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
edy05 2:d172c9963f87 26 int bufl, ipdLen, linkID, weberror, webcounter;
edy05 2:d172c9963f87 27
edy05 2:d172c9963f87 28 void getreply(); void SendCMD();
edy05 2:d172c9963f87 29 void startserver();
edy05 2:d172c9963f87 30 void ReadWebData();
edy05 2:d172c9963f87 31 void sendpage();
edy05 2:d172c9963f87 32 void sendcheck();
edy05 2:d172c9963f87 33 void get_ip_address(char web_data[1024]);
edy05 2:d172c9963f87 34 void SendWEB();
edy05 2:d172c9963f87 35
edy05 2:d172c9963f87 36 void serverRun();
edy05 2:d172c9963f87 37 void serverMain();
edy05 2:d172c9963f87 38 void serverLoop();
edy05 2:d172c9963f87 39 void callback();
edy05 2:d172c9963f87 40
edy05 33:a2f9fea05cb9 41 int port = 80; // set server port
edy05 33:a2f9fea05cb9 42 int SERVtimeout = 8; // set server timeout in seconds in case link breaks.
edy05 2:d172c9963f87 43
edy05 9:86a5af9935b1 44
edy05 2:d172c9963f87 45
edy05 2:d172c9963f87 46 //serverThread.start(serverRun);
edy05 2:d172c9963f87 47
edy05 2:d172c9963f87 48 void callback(){
edy05 34:5dca557e982f 49 ////pc.printf("callback!!!!!!!!!!!!!!!!_________________________\n\r");
edy05 2:d172c9963f87 50 led3 = 1;
edy05 2:d172c9963f87 51 while (esp.readable()) {
edy05 2:d172c9963f87 52 webbuff[count] = esp.getc();
edy05 2:d172c9963f87 53 count++;
edy05 2:d172c9963f87 54 }
edy05 2:d172c9963f87 55 if(strlen(webbuff)>bufflen) {
edy05 40:0aa1cefe80ab 56 //printf("bufflen %d \n\r");
edy05 2:d172c9963f87 57 DataRX=1;
edy05 2:d172c9963f87 58 led3=0;
edy05 2:d172c9963f87 59 }
edy05 2:d172c9963f87 60 }
edy05 2:d172c9963f87 61
edy05 2:d172c9963f87 62
edy05 2:d172c9963f87 63 void serverRun(){
edy05 37:76bfd4e9c383 64 chd_dp = 1;
edy05 2:d172c9963f87 65 reset=0;
edy05 25:69190c222dbf 66
edy05 34:5dca557e982f 67 //pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
edy05 37:76bfd4e9c383 68 wait(0.5);
edy05 2:d172c9963f87 69 reset=1;
edy05 2:d172c9963f87 70 timeout=6000;
edy05 2:d172c9963f87 71 getcount=500;
edy05 2:d172c9963f87 72 getreply();
edy05 37:76bfd4e9c383 73 //Thread::wait(3000);
edy05 37:76bfd4e9c383 74 //reset = 1;
edy05 37:76bfd4e9c383 75 //Thread::wait(3000);
edy05 2:d172c9963f87 76 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
edy05 2:d172c9963f87 77 startserver();
edy05 26:11539036f0fb 78 webcounter = 0;
edy05 31:5f1737e480f3 79 Timer timer;
edy05 34:5dca557e982f 80 bool pageWasSent = false;
edy05 2:d172c9963f87 81 while(1){
edy05 2:d172c9963f87 82 if(DataRX==1) {
edy05 39:93d8aa47f4ce 83 //timer.reset();
edy05 31:5f1737e480f3 84 timer.start();
edy05 2:d172c9963f87 85 ReadWebData();
edy05 11:002927b2675d 86 // Save data to configFile
edy05 31:5f1737e480f3 87 //writeSettingsToConfig();
edy05 34:5dca557e982f 88 if ((servreq == 1 && weberror == 0) && pageWasSent == false) {
edy05 34:5dca557e982f 89 //////pc.printf("Send page \n\r");
edy05 10:bb9c778f8e3e 90 // send HTTP Response
edy05 2:d172c9963f87 91 sendpage();
edy05 34:5dca557e982f 92 pageWasSent = true;
edy05 39:93d8aa47f4ce 93 timer.reset();
edy05 31:5f1737e480f3 94
edy05 2:d172c9963f87 95 }
edy05 32:c729e6da7f9a 96 else{
edy05 40:0aa1cefe80ab 97 pc.printf("Page was not sent \n\r");
edy05 32:c729e6da7f9a 98 }
edy05 2:d172c9963f87 99 esp.attach(&callback);
edy05 34:5dca557e982f 100 ////pc.printf(" IPD Data:\r\n\n Link ID = %d,\r\n IPD Header Length = %d \r\n IPD Type = %s\r\n", linkID, ipdLen, type);
edy05 34:5dca557e982f 101 ////pc.printf("HTTP Packet: \n\n%s", webdata);
edy05 34:5dca557e982f 102 ////pc.printf("Web Characters sent : %d\n\n", bufl);
edy05 34:5dca557e982f 103 ////pc.printf("-------------------------------------\n\n");
edy05 2:d172c9963f87 104 servreq=0;
edy05 15:9cdf757269fb 105 memset(_serverMessage, '\0', sizeof(_serverMessage));
edy05 2:d172c9963f87 106 }
edy05 34:5dca557e982f 107 if(timer.read_ms() > 3000){
edy05 34:5dca557e982f 108 pageWasSent = false;
edy05 34:5dca557e982f 109 ////pc.printf("starting reading new configuration in server task\n\r");
edy05 31:5f1737e480f3 110 // when stop sending answers
edy05 31:5f1737e480f3 111 timer.stop();
edy05 31:5f1737e480f3 112 timer.reset();
edy05 32:c729e6da7f9a 113 if(_newP == _P && _newI == _I && _newD == _D){
edy05 31:5f1737e480f3 114 _onlyDistanChanged = true;
edy05 31:5f1737e480f3 115 }
edy05 39:93d8aa47f4ce 116 //if(_newGroundSetPoint != _groundSetPoint){
edy05 39:93d8aa47f4ce 117 // _onlyDistanChanged = true;
edy05 39:93d8aa47f4ce 118 //}
edy05 39:93d8aa47f4ce 119 _groundSetPoint = _newGroundSetPoint;
edy05 32:c729e6da7f9a 120 _P = _newP;
edy05 32:c729e6da7f9a 121 _I = _newI;
edy05 32:c729e6da7f9a 122 _D = _newD;
edy05 31:5f1737e480f3 123 // Save data to configFile
edy05 31:5f1737e480f3 124 writeSettingsToConfig();
edy05 31:5f1737e480f3 125 // notification that config of pid was changed
edy05 31:5f1737e480f3 126 _configChanges = true;
edy05 31:5f1737e480f3 127 // start or stop ground regulation
edy05 31:5f1737e480f3 128 //_groundRegulation = _tempGroundRegulation;
edy05 31:5f1737e480f3 129 if(_groundRegulation != _tempGroundRegulation){
edy05 31:5f1737e480f3 130 _groundRegulation = _tempGroundRegulation;
edy05 31:5f1737e480f3 131 _groundDistance->resetError();
edy05 31:5f1737e480f3 132 }
edy05 31:5f1737e480f3 133
edy05 31:5f1737e480f3 134 }
edy05 31:5f1737e480f3 135
edy05 34:5dca557e982f 136 Thread::wait(100);
edy05 2:d172c9963f87 137 }
edy05 2:d172c9963f87 138 }
edy05 2:d172c9963f87 139
edy05 2:d172c9963f87 140
edy05 2:d172c9963f87 141 // Static WEB page
edy05 2:d172c9963f87 142 void sendpage(){
edy05 2:d172c9963f87 143 strcpy(webbuff, "<!DOCTYPE html>");
edy05 2:d172c9963f87 144 strcat(webbuff, "<html><head><title>ESP8266 Mbed LPC1768</title></head>");
edy05 2:d172c9963f87 145 strcat(webbuff, "<body>");
edy05 34:5dca557e982f 146 //strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web PID Controller</h1>");
edy05 34:5dca557e982f 147 //strcat(webbuff, "Hit Count - ");
edy05 34:5dca557e982f 148 //strcat(webbuff, webcount);
edy05 34:5dca557e982f 149 //strcat(webbuff, "</div><br /><hr>");
edy05 15:9cdf757269fb 150 //server message (mostly errors)
edy05 34:5dca557e982f 151 //strcat(webbuff, "<div stye=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h3>Server messages</h3>");
edy05 34:5dca557e982f 152 //strcat(webbuff, _serverMessage);
edy05 34:5dca557e982f 153 //strcat(webbuff, "</div><br><hr>");
edy05 34:5dca557e982f 154 strcat(webbuff, "<form method=\"POST\">");
edy05 34:5dca557e982f 155 //if(led1==0) {
edy05 34:5dca557e982f 156 // strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked> LED 1 off");
edy05 34:5dca557e982f 157 // strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" > LED 1 on<br>");
edy05 34:5dca557e982f 158 //} else {
edy05 34:5dca557e982f 159 // strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" > LED 1 off");
edy05 34:5dca557e982f 160 // strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked> LED 1 on<br>");
edy05 34:5dca557e982f 161 //}
edy05 21:0afb91824792 162 // ground regulation
edy05 31:5f1737e480f3 163 if(_tempGroundRegulation) {
edy05 21:0afb91824792 164 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" checked> Ground regulation ON");
edy05 21:0afb91824792 165 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" > Ground regulation OFF<br>");
edy05 21:0afb91824792 166 } else {
edy05 21:0afb91824792 167 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" > Ground regulation ON");
edy05 25:69190c222dbf 168 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" checked> Ground regulation OFF<br>");
edy05 21:0afb91824792 169 }
edy05 25:69190c222dbf 170 // pid ground min output
edy05 25:69190c222dbf 171 strcat(webbuff, "pid min Output: <input type=\"text\" name=\"groundPidMinOutput\" size=6 value=\"");
edy05 25:69190c222dbf 172 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 173 strcat(webbuff, _str);
edy05 25:69190c222dbf 174 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 175 //pid ground max output
edy05 25:69190c222dbf 176 strcat(webbuff, "pid max Output: <input type=\"text\" name=\"groundPidMaxOutput\" size=6 value=\"");
edy05 25:69190c222dbf 177 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 178 strcat(webbuff, _str);
edy05 25:69190c222dbf 179 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 180 //ground regulation bias
edy05 25:69190c222dbf 181 strcat(webbuff, "Bias: <input type=\"text\" name=\"bias\" size=6 value=\"");
edy05 25:69190c222dbf 182 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 183 strcat(webbuff, _str);
edy05 25:69190c222dbf 184 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 185 strcat(webbuff, "P: <input type=\"text\" name=\"proportional\" size=6 value=\"");
edy05 32:c729e6da7f9a 186 ConvertToCharArray(_newP);
edy05 9:86a5af9935b1 187 strcat(webbuff, _str);
edy05 2:d172c9963f87 188 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 189 strcat(webbuff, "I: <input type=\"text\" name=\"integral\" size=6 value=\"");
edy05 32:c729e6da7f9a 190 ConvertToCharArray(_newI);
edy05 9:86a5af9935b1 191 strcat(webbuff, _str);
edy05 2:d172c9963f87 192 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 193 strcat(webbuff, "D: <input type=\"text\" name=\"derivative\" size=6 value=\"");
edy05 32:c729e6da7f9a 194 ConvertToCharArray(_newD);
edy05 9:86a5af9935b1 195 strcat(webbuff, _str);
edy05 2:d172c9963f87 196 strcat(webbuff, "\"><br>");
edy05 14:076ef843e1ba 197 //Ground set Point
edy05 14:076ef843e1ba 198 strcat(webbuff, "Ground setPoint: <input type=\"text\" name=\"groundSetPoint\" size=6 value=\"");
edy05 39:93d8aa47f4ce 199 ConvertToCharArray(_newGroundSetPoint);
edy05 14:076ef843e1ba 200 strcat(webbuff, _str);
edy05 14:076ef843e1ba 201 strcat(webbuff, "\"><br>");
edy05 38:801fee0330e2 202 if(_goAhead == false) {
edy05 38:801fee0330e2 203 strcat(webbuff, "<p><input type=\"radio\" name=\"goAhead\" value=\"0\" checked> Go ahead OFF");
edy05 38:801fee0330e2 204 strcat(webbuff, "<br><input type=\"radio\" name=\"goAhead\" value=\"1\" > Go ahead ON</br>");
edy05 38:801fee0330e2 205 } else {
edy05 38:801fee0330e2 206 strcat(webbuff, "<p><input type=\"radio\" name=\"goAhead\" value=\"0\" > Go ahead OFF");
edy05 38:801fee0330e2 207 strcat(webbuff, "<br><input type=\"radio\" name=\"goAhead\" value=\"1\" checked> Go ahead ON</br>");
edy05 38:801fee0330e2 208 }
edy05 34:5dca557e982f 209 strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" checked></p>");
edy05 34:5dca557e982f 210 strcat(webbuff, "<p><input type=\"submit\"></p>");
edy05 34:5dca557e982f 211 strcat(webbuff, "</form>");
edy05 2:d172c9963f87 212 strcat(webbuff, "</body></html>");
edy05 2:d172c9963f87 213 // end of WEB page data
edy05 2:d172c9963f87 214 bufl = strlen(webbuff); // get total page buffer length
edy05 2:d172c9963f87 215 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
edy05 34:5dca557e982f 216 pc.printf("%s \n\r", cmdbuff);
edy05 2:d172c9963f87 217 timeout=200;
edy05 2:d172c9963f87 218 getcount=7;
edy05 2:d172c9963f87 219 SendCMD();
edy05 34:5dca557e982f 220 Thread::wait(1000);
edy05 2:d172c9963f87 221 getreply();
edy05 34:5dca557e982f 222 pc.printf("%s \n\r", replybuff);
edy05 2:d172c9963f87 223 SendWEB(); // send web page
edy05 2:d172c9963f87 224 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 225 sendcheck();
edy05 2:d172c9963f87 226
edy05 2:d172c9963f87 227 }
edy05 2:d172c9963f87 228
edy05 2:d172c9963f87 229 void sendcheck(){
edy05 2:d172c9963f87 230 weberror=1;
edy05 33:a2f9fea05cb9 231 timeout= 1000;
edy05 33:a2f9fea05cb9 232 getcount = 50;
edy05 2:d172c9963f87 233 t2.reset();
edy05 2:d172c9963f87 234 t2.start();
edy05 2:d172c9963f87 235 while(weberror==1 && t2.read() <5) {
edy05 2:d172c9963f87 236 getreply();
edy05 2:d172c9963f87 237 if (strstr(replybuff, "SEND OK") != NULL) {
edy05 2:d172c9963f87 238 weberror=0; // wait for valid SEND OK
edy05 2:d172c9963f87 239 }
edy05 2:d172c9963f87 240 }
edy05 2:d172c9963f87 241 if(weberror==1) { // restart connection
edy05 40:0aa1cefe80ab 242 pc.printf("sendcheck - restarting connection \n\r");
edy05 2:d172c9963f87 243 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
edy05 2:d172c9963f87 244 timeout=500;
edy05 2:d172c9963f87 245 getcount=10;
edy05 2:d172c9963f87 246 SendCMD();
edy05 2:d172c9963f87 247 getreply();
edy05 34:5dca557e982f 248 //pc.printf(replybuff);
edy05 33:a2f9fea05cb9 249 sprintf(cmdbuff,"AT+CIPSERVER=0,%d\r\n", port);
edy05 33:a2f9fea05cb9 250 timeout=500;
edy05 33:a2f9fea05cb9 251 getcount=10;
edy05 33:a2f9fea05cb9 252 SendCMD();
edy05 33:a2f9fea05cb9 253 getreply();
edy05 34:5dca557e982f 254 //pc.printf(replybuff);
edy05 2:d172c9963f87 255 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 256 timeout=500;
edy05 2:d172c9963f87 257 getcount=10;
edy05 2:d172c9963f87 258 SendCMD();
edy05 2:d172c9963f87 259 getreply();
edy05 34:5dca557e982f 260 //pc.printf(replybuff);
edy05 2:d172c9963f87 261 } else {
edy05 34:5dca557e982f 262 //pc.printf("sendcheck ok \n\r");
edy05 2:d172c9963f87 263 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
edy05 2:d172c9963f87 264 SendCMD();
edy05 2:d172c9963f87 265 getreply();
edy05 34:5dca557e982f 266 //pc.printf(replybuff);
edy05 2:d172c9963f87 267 }
edy05 2:d172c9963f87 268 t2.reset();
edy05 2:d172c9963f87 269 }
edy05 2:d172c9963f87 270
edy05 2:d172c9963f87 271 // Large WEB buffer data send
edy05 2:d172c9963f87 272 void SendWEB()
edy05 2:d172c9963f87 273 {
edy05 2:d172c9963f87 274 int i=0;
edy05 2:d172c9963f87 275 if(esp.writeable()) {
edy05 2:d172c9963f87 276 while(webbuff[i]!='\0') {
edy05 2:d172c9963f87 277 esp.putc(webbuff[i]);
edy05 2:d172c9963f87 278 i++;
edy05 2:d172c9963f87 279 }
edy05 2:d172c9963f87 280 }
edy05 2:d172c9963f87 281 }
edy05 2:d172c9963f87 282
edy05 2:d172c9963f87 283 // Reads and processes GET and POST web data
edy05 2:d172c9963f87 284 void ReadWebData(){
edy05 2:d172c9963f87 285 wait_ms(200);
edy05 2:d172c9963f87 286 esp.attach(NULL);
edy05 2:d172c9963f87 287 count=0;
edy05 2:d172c9963f87 288 DataRX=0;
edy05 2:d172c9963f87 289 weberror=0;
edy05 2:d172c9963f87 290 memset(webdata, '\0', sizeof(webdata));
edy05 2:d172c9963f87 291 int x = strcspn (webbuff,"+");
edy05 2:d172c9963f87 292 if(x) {
edy05 2:d172c9963f87 293 strcpy(webdata, webbuff + x);
edy05 34:5dca557e982f 294 //////pc.printf("webdata received: %s", webdata);
edy05 2:d172c9963f87 295 weberror=0;
edy05 2:d172c9963f87 296 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
edy05 2:d172c9963f87 297 if (strstr(webdata, "led1=1") != NULL ) {
edy05 2:d172c9963f87 298 led1=1;
edy05 2:d172c9963f87 299 }
edy05 2:d172c9963f87 300 if (strstr(webdata, "led1=0") != NULL ) {
edy05 2:d172c9963f87 301 led1=0;
edy05 2:d172c9963f87 302 }
edy05 21:0afb91824792 303 //ground regulation
edy05 21:0afb91824792 304 if (strstr(webdata, "groundRegulation=1") != NULL )
edy05 31:5f1737e480f3 305 _tempGroundRegulation = true;
edy05 21:0afb91824792 306 if (strstr(webdata, "groundRegulation=0") != NULL )
edy05 31:5f1737e480f3 307 _tempGroundRegulation = false;
edy05 25:69190c222dbf 308 // pid min Output
edy05 25:69190c222dbf 309 if (strstr(webdata, "groundPidMinOutput") != NULL ){
edy05 34:5dca557e982f 310 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 311 char* p_webdata = strstr(webdata, "groundPidMinOutput");
edy05 25:69190c222dbf 312 p_webdata = p_webdata + strlen("groundPidMinOutput") + 1;
edy05 25:69190c222dbf 313 int i = 0;
edy05 25:69190c222dbf 314 while(*p_webdata != '&'){
edy05 34:5dca557e982f 315 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 316 _str[i] = *p_webdata;
edy05 25:69190c222dbf 317 p_webdata += 1;
edy05 25:69190c222dbf 318 i++;
edy05 25:69190c222dbf 319 }
edy05 34:5dca557e982f 320 ////pc.printf("\n\r");
edy05 25:69190c222dbf 321 _str[i] = '\0';
edy05 34:5dca557e982f 322 //////pc.printf("groundPidMinOutput: %s", _str);
edy05 25:69190c222dbf 323 _groundPidMinOutput = atof(_str);
edy05 34:5dca557e982f 324 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 325 }
edy05 25:69190c222dbf 326 //pid max output
edy05 25:69190c222dbf 327 if (strstr(webdata, "groundPidMaxOutput") != NULL ){
edy05 34:5dca557e982f 328 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 329 char* p_webdata = strstr(webdata, "groundPidMaxOutput");
edy05 25:69190c222dbf 330 p_webdata = p_webdata + strlen("groundPidMaxOutput") + 1;
edy05 25:69190c222dbf 331 int i = 0;
edy05 25:69190c222dbf 332 while(*p_webdata != '&'){
edy05 34:5dca557e982f 333 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 334 _str[i] = *p_webdata;
edy05 25:69190c222dbf 335 p_webdata += 1;
edy05 25:69190c222dbf 336 i++;
edy05 25:69190c222dbf 337 }
edy05 34:5dca557e982f 338 //////pc.printf("\n\r");
edy05 25:69190c222dbf 339 _str[i] = '\0';
edy05 34:5dca557e982f 340 //////pc.printf("groundPidMaxOutput: %s", _str);
edy05 25:69190c222dbf 341 _groundPidMaxOutput = atof(_str);
edy05 34:5dca557e982f 342 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 343 }
edy05 25:69190c222dbf 344 //bias
edy05 25:69190c222dbf 345 if (strstr(webdata, "bias") != NULL ){
edy05 34:5dca557e982f 346 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 347 char* p_webdata = strstr(webdata, "bias");
edy05 25:69190c222dbf 348 p_webdata = p_webdata + strlen("bias") + 1;
edy05 25:69190c222dbf 349 int i = 0;
edy05 25:69190c222dbf 350 while(*p_webdata != '&'){
edy05 34:5dca557e982f 351 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 352 _str[i] = *p_webdata;
edy05 25:69190c222dbf 353 p_webdata += 1;
edy05 25:69190c222dbf 354 i++;
edy05 25:69190c222dbf 355 }
edy05 34:5dca557e982f 356 //////pc.printf("\n\r");
edy05 25:69190c222dbf 357 _str[i] = '\0';
edy05 34:5dca557e982f 358 //////pc.printf("bias: %s", _str);
edy05 25:69190c222dbf 359 _bias = atof(_str);
edy05 34:5dca557e982f 360 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 361 }
edy05 21:0afb91824792 362 // PID values
edy05 2:d172c9963f87 363 if (strstr(webdata, "proportional") != NULL ){
edy05 34:5dca557e982f 364 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 365 char* p_webdata = strstr(webdata, "proportional");
edy05 2:d172c9963f87 366 p_webdata = p_webdata + strlen("proportional") + 1;
edy05 2:d172c9963f87 367 int i = 0;
edy05 2:d172c9963f87 368 while(*p_webdata != '&'){
edy05 34:5dca557e982f 369 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 370 _str[i] = *p_webdata;
edy05 2:d172c9963f87 371 p_webdata += 1;
edy05 2:d172c9963f87 372 i++;
edy05 2:d172c9963f87 373 }
edy05 34:5dca557e982f 374 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 375 _str[i] = '\0';
edy05 34:5dca557e982f 376 //////pc.printf("proportional: %s", _str);
edy05 32:c729e6da7f9a 377 _newP = atof(_str);
edy05 34:5dca557e982f 378 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 379 }
edy05 2:d172c9963f87 380 if (strstr(webdata, "integral") != NULL){
edy05 34:5dca557e982f 381 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 382 char* p_webdata = strstr(webdata, "integral");
edy05 2:d172c9963f87 383 p_webdata = p_webdata + strlen("integral") + 1;
edy05 2:d172c9963f87 384 int i = 0;
edy05 2:d172c9963f87 385 while(*p_webdata != '&'){
edy05 34:5dca557e982f 386 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 387 _str[i] = *p_webdata;
edy05 2:d172c9963f87 388 p_webdata += 1;
edy05 2:d172c9963f87 389 i++;
edy05 2:d172c9963f87 390 }
edy05 34:5dca557e982f 391 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 392 _str[i] = '\0';
edy05 34:5dca557e982f 393 //////pc.printf("integral: %s", _str);
edy05 32:c729e6da7f9a 394 _newI = atof(_str);
edy05 34:5dca557e982f 395 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 396
edy05 2:d172c9963f87 397 }
edy05 2:d172c9963f87 398 if (strstr(webdata, "derivative") != NULL){
edy05 34:5dca557e982f 399 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 400 char* p_webdata = strstr(webdata, "derivative");
edy05 2:d172c9963f87 401 p_webdata = p_webdata + strlen("derivative") + 1;
edy05 2:d172c9963f87 402 int i = 0;
edy05 2:d172c9963f87 403 while(*p_webdata != '&'){
edy05 34:5dca557e982f 404 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 405 _str[i] = *p_webdata;
edy05 2:d172c9963f87 406 p_webdata += 1;
edy05 2:d172c9963f87 407 i++;
edy05 2:d172c9963f87 408 }
edy05 34:5dca557e982f 409 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 410 _str[i] = '\0';
edy05 34:5dca557e982f 411 //////pc.printf("derivative: %s", _str);
edy05 32:c729e6da7f9a 412 _newD = atof(_str);
edy05 34:5dca557e982f 413 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 414 }
edy05 14:076ef843e1ba 415 if (strstr(webdata, "groundSetPoint") != NULL){
edy05 34:5dca557e982f 416 //////pc.printf("\n\r looking for data \n\r");
edy05 14:076ef843e1ba 417 char* p_webdata = strstr(webdata, "groundSetPoint");
edy05 14:076ef843e1ba 418 p_webdata = p_webdata + strlen("groundSetPoint") + 1;
edy05 14:076ef843e1ba 419 int i = 0;
edy05 14:076ef843e1ba 420 while(*p_webdata != '&'){
edy05 34:5dca557e982f 421 ////pc.printf("%c", *p_webdata);
edy05 14:076ef843e1ba 422 _str[i] = *p_webdata;
edy05 14:076ef843e1ba 423 p_webdata += 1;
edy05 14:076ef843e1ba 424 i++;
edy05 14:076ef843e1ba 425 }
edy05 34:5dca557e982f 426 //////pc.printf("\n\r");
edy05 14:076ef843e1ba 427 _str[i] = '\0';
edy05 34:5dca557e982f 428 //////pc.printf("groundSetPoint: %s", _str);
edy05 39:93d8aa47f4ce 429 _newGroundSetPoint = atof(_str);
edy05 38:801fee0330e2 430 //////pc.printf("\n\r end of looking for data \n\r");
edy05 14:076ef843e1ba 431 }
edy05 38:801fee0330e2 432 //Go ahead
edy05 38:801fee0330e2 433 if (strstr(webdata, "goAhead=1") != NULL )
edy05 38:801fee0330e2 434 _goAhead = true;
edy05 38:801fee0330e2 435 if (strstr(webdata, "goAhead=0") != NULL )
edy05 38:801fee0330e2 436 _goAhead = false;
edy05 40:0aa1cefe80ab 437
edy05 40:0aa1cefe80ab 438 pc.printf("test \n\r");
edy05 2:d172c9963f87 439 sprintf(channel, "%d",linkID);
edy05 2:d172c9963f87 440 if (strstr(webdata, "GET") != NULL) {
edy05 40:0aa1cefe80ab 441 pc.printf("GET \n\r");
edy05 2:d172c9963f87 442 servreq=1;
edy05 2:d172c9963f87 443 }
edy05 2:d172c9963f87 444 if (strstr(webdata, "POST") != NULL) {
edy05 40:0aa1cefe80ab 445 pc.printf("POST \n\r");
edy05 2:d172c9963f87 446 servreq=1;
edy05 2:d172c9963f87 447 }
edy05 2:d172c9963f87 448 webcounter++;
edy05 2:d172c9963f87 449 sprintf(webcount, "%d",webcounter);
edy05 2:d172c9963f87 450 }else{
edy05 40:0aa1cefe80ab 451 pc.printf("no + \n\r");
edy05 2:d172c9963f87 452 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 453 esp.attach(&callback);
edy05 2:d172c9963f87 454 weberror=1;
edy05 2:d172c9963f87 455 }
edy05 2:d172c9963f87 456
edy05 2:d172c9963f87 457 }
edy05 2:d172c9963f87 458
edy05 2:d172c9963f87 459 void startserver(){
edy05 34:5dca557e982f 460 //pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
edy05 2:d172c9963f87 461 strcpy(cmdbuff,"AT+RST\r\n");
edy05 2:d172c9963f87 462 timeout=8000;
edy05 2:d172c9963f87 463 getcount=1000;
edy05 2:d172c9963f87 464 SendCMD();
edy05 2:d172c9963f87 465 getreply();
edy05 34:5dca557e982f 466 //pc.printf(replybuff);
edy05 34:5dca557e982f 467 //pc.printf("%d",count);
edy05 2:d172c9963f87 468 if (strstr(replybuff, "OK") != NULL) {
edy05 34:5dca557e982f 469 //////pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
edy05 2:d172c9963f87 470 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
edy05 2:d172c9963f87 471 timeout=500;
edy05 2:d172c9963f87 472 getcount=20;
edy05 2:d172c9963f87 473 SendCMD();
edy05 2:d172c9963f87 474 getreply();
edy05 34:5dca557e982f 475 //pc.printf(replybuff);
edy05 2:d172c9963f87 476 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 477 timeout=500;
edy05 2:d172c9963f87 478 getcount=20;
edy05 2:d172c9963f87 479 SendCMD();
edy05 2:d172c9963f87 480 getreply();
edy05 34:5dca557e982f 481 //pc.printf(replybuff);
edy05 2:d172c9963f87 482 wait(1);
edy05 2:d172c9963f87 483 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
edy05 2:d172c9963f87 484 timeout=500;
edy05 2:d172c9963f87 485 getcount=50;
edy05 2:d172c9963f87 486 SendCMD();
edy05 2:d172c9963f87 487 getreply();
edy05 34:5dca557e982f 488 //pc.printf(replybuff);
edy05 2:d172c9963f87 489 wait(5);
edy05 34:5dca557e982f 490 //pc.printf("\n Getting Server IP \r\n");
edy05 2:d172c9963f87 491 strcpy(cmdbuff, "AT+CIFSR\r\n");
edy05 2:d172c9963f87 492 timeout=2500;
edy05 2:d172c9963f87 493 getcount=200;
edy05 2:d172c9963f87 494 while(weberror==0) {
edy05 2:d172c9963f87 495 SendCMD();
edy05 2:d172c9963f87 496 getreply();
edy05 2:d172c9963f87 497 if (strstr(replybuff, "0.0.0.0") == NULL) {
edy05 2:d172c9963f87 498 weberror=1; // wait for valid IP
edy05 2:d172c9963f87 499 }
edy05 2:d172c9963f87 500 }
edy05 34:5dca557e982f 501 //pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
edy05 34:5dca557e982f 502 //pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
edy05 2:d172c9963f87 503 replybuff[strlen(replybuff)-1] = '\0';
edy05 2:d172c9963f87 504 //char* IP = replybuff + 5;
edy05 2:d172c9963f87 505 sprintf(webdata,"%s", replybuff);
edy05 2:d172c9963f87 506 //SAVE IP ADDRESS
edy05 2:d172c9963f87 507 get_ip_address(webdata);
edy05 34:5dca557e982f 508 //pc.printf("ip_address: %s\n\r",ip_address);
edy05 34:5dca557e982f 509 //pc.printf(webdata);
edy05 34:5dca557e982f 510 //pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
edy05 2:d172c9963f87 511 esp.attach(&callback);
edy05 2:d172c9963f87 512 } else {
edy05 34:5dca557e982f 513 //pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
edy05 2:d172c9963f87 514 while(1) {}
edy05 2:d172c9963f87 515 }
edy05 2:d172c9963f87 516 t2.reset();
edy05 2:d172c9963f87 517 t2.start();
edy05 2:d172c9963f87 518 }
edy05 2:d172c9963f87 519
edy05 2:d172c9963f87 520 void SendCMD()
edy05 2:d172c9963f87 521 {
edy05 2:d172c9963f87 522 esp.printf("%s", cmdbuff);
edy05 2:d172c9963f87 523 }
edy05 2:d172c9963f87 524
edy05 2:d172c9963f87 525 void getreply()
edy05 2:d172c9963f87 526 {
edy05 2:d172c9963f87 527 memset(replybuff, '\0', sizeof(replybuff));
edy05 2:d172c9963f87 528 t1.reset();
edy05 2:d172c9963f87 529 t1.start();
edy05 2:d172c9963f87 530 replycount=0;
edy05 2:d172c9963f87 531 while(t1.read_ms()< timeout && replycount < getcount) {
edy05 2:d172c9963f87 532 if(esp.readable()) {
edy05 2:d172c9963f87 533 replybuff[replycount] = esp.getc();
edy05 2:d172c9963f87 534 replycount++;
edy05 2:d172c9963f87 535 }
edy05 2:d172c9963f87 536 }
edy05 2:d172c9963f87 537 t1.stop();
edy05 2:d172c9963f87 538 }
edy05 2:d172c9963f87 539
edy05 2:d172c9963f87 540 void get_ip_address(char web_data[1024]){
edy05 2:d172c9963f87 541 char pre_text[] = "+CIFSR:STAIP,\"";
edy05 2:d172c9963f87 542 char* p_text = strstr(webdata, pre_text);
edy05 2:d172c9963f87 543 p_text = p_text+strlen(pre_text);
edy05 2:d172c9963f87 544 char* p_text2 = strstr(p_text, "\"");
edy05 2:d172c9963f87 545 for(int i = 0;;i++){
edy05 2:d172c9963f87 546 if(*(p_text+i) == *p_text2){
edy05 2:d172c9963f87 547 ip_address[i] = '\0';
edy05 2:d172c9963f87 548 break;
edy05 2:d172c9963f87 549 }
edy05 2:d172c9963f87 550 ip_address[i] = *(p_text+i);
edy05 2:d172c9963f87 551
edy05 2:d172c9963f87 552 }
edy05 2:d172c9963f87 553 }