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@21:0afb91824792, 2017-10-29 (annotated)
- Committer:
- edy05
- Date:
- Sun Oct 29 11:56:04 2017 +0000
- Branch:
- DistanceRegulation
- Revision:
- 21:0afb91824792
- Parent:
- 17:1896d242945b
- Child:
- 25:69190c222dbf
Server - groundRegulation added to turn off or on ground distance regulation
Who changed what in which revision?
User | Revision | Line number | New 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 | 15:9cdf757269fb | 38 | char* _serverMessage = new char[1024]; |
edy05 | 17:1896d242945b | 39 | bool _configChanges = false; |
edy05 | 15:9cdf757269fb | 40 | // zero is default value |
edy05 | 9:86a5af9935b1 | 41 | float _P = 0; |
edy05 | 9:86a5af9935b1 | 42 | float _I = 0; |
edy05 | 9:86a5af9935b1 | 43 | float _D = 0; |
edy05 | 14:076ef843e1ba | 44 | int _groundSetPoint = 0; |
edy05 | 21:0afb91824792 | 45 | bool _groundRegulation = false; |
edy05 | 8:b5128641d4cf | 46 | |
edy05 | 11:002927b2675d | 47 | |
edy05 | 11:002927b2675d | 48 | |
edy05 | 11:002927b2675d | 49 | |
edy05 | 10:bb9c778f8e3e | 50 | |
edy05 | 9:86a5af9935b1 | 51 | void loadConfigFile(void){ |
edy05 | 9:86a5af9935b1 | 52 | //reading configFile |
edy05 | 9:86a5af9935b1 | 53 | _configFile.read("/local/config.cfg"); |
edy05 | 9:86a5af9935b1 | 54 | char value[BUFSIZ]; |
edy05 | 9:86a5af9935b1 | 55 | if (_configFile.getValue("P", &value[0], sizeof(value))) |
edy05 | 9:86a5af9935b1 | 56 | _P = atof(value); |
edy05 | 9:86a5af9935b1 | 57 | if (_configFile.getValue("I", &value[0], sizeof(value))) |
edy05 | 9:86a5af9935b1 | 58 | _I = atof(value); |
edy05 | 9:86a5af9935b1 | 59 | if (_configFile.getValue("D", &value[0], sizeof(value))) |
edy05 | 9:86a5af9935b1 | 60 | _D = atof(value); |
edy05 | 14:076ef843e1ba | 61 | if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value))) |
edy05 | 14:076ef843e1ba | 62 | _groundSetPoint = atof(value); |
edy05 | 9:86a5af9935b1 | 63 | |
edy05 | 9:86a5af9935b1 | 64 | } |
edy05 | 9:86a5af9935b1 | 65 | |
edy05 | 11:002927b2675d | 66 | void writeSettingsToConfig(void){ |
edy05 | 10:bb9c778f8e3e | 67 | ConvertToCharArray(_P); |
edy05 | 15:9cdf757269fb | 68 | if(!_configFile.setValue("P", _str)) |
edy05 | 15:9cdf757269fb | 69 | strcat(_serverMessage, "P value could not be saved to configFile\n\r"); |
edy05 | 10:bb9c778f8e3e | 70 | ConvertToCharArray(_I); |
edy05 | 15:9cdf757269fb | 71 | if(!_configFile.setValue("I", _str)) |
edy05 | 15:9cdf757269fb | 72 | strcat(_serverMessage, "I value could not be saved to configFile\n\r"); |
edy05 | 10:bb9c778f8e3e | 73 | ConvertToCharArray(_D); |
edy05 | 15:9cdf757269fb | 74 | if(!_configFile.setValue("D", _str)) |
edy05 | 15:9cdf757269fb | 75 | strcat(_serverMessage, "D value could not be saved to configFile\n\r"); |
edy05 | 14:076ef843e1ba | 76 | ConvertToCharArray(_groundSetPoint); |
edy05 | 15:9cdf757269fb | 77 | if(!_configFile.setValue("groundSetPoint", _str)){ |
edy05 | 15:9cdf757269fb | 78 | strcat(_serverMessage, "groundSetPoint value could not be saved to configFile\n\r"); |
edy05 | 15:9cdf757269fb | 79 | pc.printf("groundSetPoint value could not be saved to configFile\n\r"); |
edy05 | 15:9cdf757269fb | 80 | } |
edy05 | 10:bb9c778f8e3e | 81 | |
edy05 | 10:bb9c778f8e3e | 82 | _configFile.write("/local/config.cfg"); |
edy05 | 10:bb9c778f8e3e | 83 | |
edy05 | 17:1896d242945b | 84 | _configChanges = true; |
edy05 | 13:33024b5880b3 | 85 | |
edy05 | 10:bb9c778f8e3e | 86 | } |
edy05 | 10:bb9c778f8e3e | 87 | |
edy05 | 11:002927b2675d | 88 | |
edy05 | 11:002927b2675d | 89 | void writeErrorLog(char *message){ |
edy05 | 11:002927b2675d | 90 | FILE *fp = fopen("/local/errorlog.txt", "w"); |
edy05 | 11:002927b2675d | 91 | fprintf(fp, message); |
edy05 | 11:002927b2675d | 92 | fclose(fp); |
edy05 | 11:002927b2675d | 93 | |
edy05 | 11:002927b2675d | 94 | } |
edy05 | 11:002927b2675d | 95 | |
edy05 | 11:002927b2675d | 96 | |
edy05 | 9:86a5af9935b1 | 97 | //Converts float to char array |
edy05 | 9:86a5af9935b1 | 98 | void ConvertToCharArray(float number) |
edy05 | 9:86a5af9935b1 | 99 | { |
edy05 | 9:86a5af9935b1 | 100 | sprintf(_str, "%4.2f", number ); |
edy05 | 9:86a5af9935b1 | 101 | } |
edy05 | 8:b5128641d4cf | 102 | |
edy05 | 14:076ef843e1ba | 103 | //Converts integer to char array |
edy05 | 14:076ef843e1ba | 104 | void ConvertToCharArray(int number) |
edy05 | 14:076ef843e1ba | 105 | { |
edy05 | 14:076ef843e1ba | 106 | sprintf(_str, "%d", number ); |
edy05 | 14:076ef843e1ba | 107 | } |
edy05 | 14:076ef843e1ba | 108 | |
edy05 | 8:b5128641d4cf | 109 | |
edy05 | 2:d172c9963f87 | 110 | #endif |