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

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 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 26:11539036f0fb 17 Serial pc(USBTX, USBRX); // tx, rx
edy05 26:11539036f0fb 18 PID* _groundDistance;
edy05 27:5956d5e3ff63 19 //RtosTimer *_groudRegulationUpdateTimer;
edy05 26:11539036f0fb 20 HCSR04* _sonic;
edy05 40:0aa1cefe80ab 21 uint8_t _frontDistance;
edy05 40:0aa1cefe80ab 22 uint8_t _leftDistance;
edy05 40:0aa1cefe80ab 23 uint8_t _rightDistance;
edy05 40:0aa1cefe80ab 24 uint8_t _backDistance;
edy05 26:11539036f0fb 25 PpmRegen* _ppmRegen;
edy05 11:002927b2675d 26
edy05 11:002927b2675d 27 ConfigFile _configFile;
edy05 11:002927b2675d 28 LocalFileSystem local("local");
edy05 2:d172c9963f87 29
edy05 40:0aa1cefe80ab 30 Semaphore _semaphore(1);
edy05 40:0aa1cefe80ab 31 Thread _serverThread;
edy05 40:0aa1cefe80ab 32 Thread _frontSensorThread;
edy05 40:0aa1cefe80ab 33 Thread _leftSensorThread;
edy05 40:0aa1cefe80ab 34 Thread _rightSensorThread;
edy05 40:0aa1cefe80ab 35 Thread _backSensorThread;
edy05 40:0aa1cefe80ab 36 Thread *_distanceThread;
edy05 27:5956d5e3ff63 37
edy05 2:d172c9963f87 38
edy05 2:d172c9963f87 39 InterruptIn* _interruptPort = new InterruptIn(p28);
edy05 2:d172c9963f87 40 PwmOut* _roll = new PwmOut(p21);
edy05 2:d172c9963f87 41 PwmOut* _pitch = new PwmOut(p22);
edy05 2:d172c9963f87 42 PwmOut* _throttle = new PwmOut(p23);
edy05 2:d172c9963f87 43 PwmOut* _yaw = new PwmOut(p24);
edy05 2:d172c9963f87 44 PwmOut* _aux1 = new PwmOut(p25);
edy05 2:d172c9963f87 45 PwmOut* _aux2 = new PwmOut(p26);
edy05 2:d172c9963f87 46
edy05 2:d172c9963f87 47
edy05 9:86a5af9935b1 48 char* _str = new char[1024];
edy05 15:9cdf757269fb 49 char* _serverMessage = new char[1024];
edy05 17:1896d242945b 50 bool _configChanges = false;
edy05 31:5f1737e480f3 51 bool _onlyDistanChanged = false;
edy05 15:9cdf757269fb 52 // zero is default value
edy05 9:86a5af9935b1 53 float _P = 0;
edy05 9:86a5af9935b1 54 float _I = 0;
edy05 9:86a5af9935b1 55 float _D = 0;
edy05 35:b09e19c855f6 56 float _groundSetPoint = 0;
edy05 35:b09e19c855f6 57 float _bias = 0;
edy05 35:b09e19c855f6 58 float _groundPidMinOutput = 0;
edy05 35:b09e19c855f6 59 float _groundPidMaxOutput = 0;
edy05 21:0afb91824792 60 bool _groundRegulation = false;
edy05 31:5f1737e480f3 61 // Temporary values for Server to filter noise
edy05 32:c729e6da7f9a 62 float _newP;
edy05 32:c729e6da7f9a 63 float _newI;
edy05 32:c729e6da7f9a 64 float _newD;
edy05 39:93d8aa47f4ce 65 float _newGroundSetPoint;
edy05 31:5f1737e480f3 66 bool _tempGroundRegulation = false;
edy05 38:801fee0330e2 67 bool _goAhead = false;
edy05 40:0aa1cefe80ab 68 bool _frontWall = false;
edy05 31:5f1737e480f3 69
edy05 8:b5128641d4cf 70
edy05 11:002927b2675d 71
edy05 11:002927b2675d 72
edy05 11:002927b2675d 73
edy05 10:bb9c778f8e3e 74
edy05 9:86a5af9935b1 75 void loadConfigFile(void){
edy05 9:86a5af9935b1 76 //reading configFile
edy05 9:86a5af9935b1 77 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 78 char value[BUFSIZ];
edy05 25:69190c222dbf 79 if (_configFile.getValue("bias", &value[0], sizeof(value)))
edy05 25:69190c222dbf 80 _bias = atof(value);
edy05 25:69190c222dbf 81 if (_configFile.getValue("groundPidMinOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 82 _groundPidMinOutput = atof(value);
edy05 25:69190c222dbf 83 if (_configFile.getValue("groundPidMaxOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 84 _groundPidMaxOutput = atof(value);
edy05 9:86a5af9935b1 85 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 86 _P = atof(value);
edy05 9:86a5af9935b1 87 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 88 _I = atof(value);
edy05 9:86a5af9935b1 89 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 90 _D = atof(value);
edy05 14:076ef843e1ba 91 if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
edy05 14:076ef843e1ba 92 _groundSetPoint = atof(value);
edy05 9:86a5af9935b1 93
edy05 9:86a5af9935b1 94 }
edy05 9:86a5af9935b1 95
edy05 11:002927b2675d 96 void writeSettingsToConfig(void){
edy05 25:69190c222dbf 97 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 98 if(!_configFile.setValue("bias", _str))
edy05 25:69190c222dbf 99 strcat(_serverMessage, "bias value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 100 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 101 if(!_configFile.setValue("groundPidMinOutput", _str))
edy05 25:69190c222dbf 102 strcat(_serverMessage, "groundPidMinOutput value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 103 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 104 if(!_configFile.setValue("groundPidMaxOutput", _str))
edy05 25:69190c222dbf 105 strcat(_serverMessage, "groundPidMaxOutput value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 106 ConvertToCharArray(_P);
edy05 15:9cdf757269fb 107 if(!_configFile.setValue("P", _str))
edy05 15:9cdf757269fb 108 strcat(_serverMessage, "P value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 109 ConvertToCharArray(_I);
edy05 15:9cdf757269fb 110 if(!_configFile.setValue("I", _str))
edy05 15:9cdf757269fb 111 strcat(_serverMessage, "I value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 112 ConvertToCharArray(_D);
edy05 15:9cdf757269fb 113 if(!_configFile.setValue("D", _str))
edy05 15:9cdf757269fb 114 strcat(_serverMessage, "D value could not be saved to configFile\n\r");
edy05 14:076ef843e1ba 115 ConvertToCharArray(_groundSetPoint);
edy05 15:9cdf757269fb 116 if(!_configFile.setValue("groundSetPoint", _str)){
edy05 15:9cdf757269fb 117 strcat(_serverMessage, "groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 118 pc.printf("groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 119 }
edy05 10:bb9c778f8e3e 120 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 121
edy05 10:bb9c778f8e3e 122 }
edy05 10:bb9c778f8e3e 123
edy05 11:002927b2675d 124
edy05 11:002927b2675d 125 void writeErrorLog(char *message){
edy05 11:002927b2675d 126 FILE *fp = fopen("/local/errorlog.txt", "w");
edy05 11:002927b2675d 127 fprintf(fp, message);
edy05 11:002927b2675d 128 fclose(fp);
edy05 11:002927b2675d 129
edy05 11:002927b2675d 130 }
edy05 11:002927b2675d 131
edy05 11:002927b2675d 132
edy05 9:86a5af9935b1 133 //Converts float to char array
edy05 9:86a5af9935b1 134 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 135 {
edy05 25:69190c222dbf 136 sprintf(_str, "%3.6f", number );
edy05 9:86a5af9935b1 137 }
edy05 8:b5128641d4cf 138
edy05 14:076ef843e1ba 139 //Converts integer to char array
edy05 14:076ef843e1ba 140 void ConvertToCharArray(int number)
edy05 14:076ef843e1ba 141 {
edy05 14:076ef843e1ba 142 sprintf(_str, "%d", number );
edy05 14:076ef843e1ba 143 }
edy05 14:076ef843e1ba 144
edy05 8:b5128641d4cf 145
edy05 2:d172c9963f87 146 #endif