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@26:11539036f0fb, 2017-12-01 (annotated)

Committer:
edy05
Date:
Fri Dec 01 11:11:23 2017 +0000
Branch:
DistanceRegulation
Revision:
26:11539036f0fb
Parent:
25:69190c222dbf
Child:
27:5956d5e3ff63
Stable

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 2:d172c9963f87 6 RawSerial esp(p9, p10); // tx, rx
edy05 2:d172c9963f87 7 DigitalOut reset(p8);
edy05 2:d172c9963f87 8
edy05 2:d172c9963f87 9 // Standard Mbed LED definitions
edy05 2:d172c9963f87 10 DigitalOut led1(LED1); // (PTB18)
edy05 2:d172c9963f87 11 DigitalOut led3(LED3); // (PTD1)
edy05 2:d172c9963f87 12
edy05 2:d172c9963f87 13 Timer t1;
edy05 2:d172c9963f87 14 Timer t2;
edy05 2:d172c9963f87 15
edy05 2:d172c9963f87 16 char cmdbuff[32];
edy05 2:d172c9963f87 17 char replybuff[1024];
edy05 2:d172c9963f87 18 char webcount[8];
edy05 2:d172c9963f87 19 char webdata[1024]; // This may need to be bigger depending on WEB browser used
edy05 2:d172c9963f87 20 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
edy05 2:d172c9963f87 21 char type[16];
edy05 2:d172c9963f87 22 char channel[2];
edy05 2:d172c9963f87 23 char ip_address[20];
edy05 2:d172c9963f87 24 int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
edy05 2:d172c9963f87 25 int bufl, ipdLen, linkID, weberror, webcounter;
edy05 25:69190c222dbf 26 bool start = true;
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 2:d172c9963f87 41 int port =80; // set server port
edy05 2:d172c9963f87 42 int SERVtimeout =5; // 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 2:d172c9963f87 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 2:d172c9963f87 56 DataRX=1;
edy05 2:d172c9963f87 57 led3=0;
edy05 2:d172c9963f87 58 }
edy05 2:d172c9963f87 59 }
edy05 2:d172c9963f87 60
edy05 2:d172c9963f87 61
edy05 2:d172c9963f87 62 void serverRun(){
edy05 2:d172c9963f87 63 reset=0;
edy05 25:69190c222dbf 64
edy05 2:d172c9963f87 65 pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
edy05 2:d172c9963f87 66 wait(0.5);
edy05 2:d172c9963f87 67 reset=1;
edy05 2:d172c9963f87 68 timeout=6000;
edy05 2:d172c9963f87 69 getcount=500;
edy05 2:d172c9963f87 70 getreply();
edy05 2:d172c9963f87 71 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
edy05 2:d172c9963f87 72 startserver();
edy05 9:86a5af9935b1 73 loadConfigFile();
edy05 26:11539036f0fb 74 webcounter = 0;
edy05 2:d172c9963f87 75 while(1){
edy05 2:d172c9963f87 76 if(DataRX==1) {
edy05 2:d172c9963f87 77 ReadWebData();
edy05 11:002927b2675d 78 // Save data to configFile
edy05 11:002927b2675d 79 writeSettingsToConfig();
edy05 25:69190c222dbf 80 if ((servreq == 1 && weberror == 0) || start) {
edy05 25:69190c222dbf 81 start = false;
edy05 10:bb9c778f8e3e 82 // send HTTP Response
edy05 2:d172c9963f87 83 sendpage();
edy05 2:d172c9963f87 84 }
edy05 2:d172c9963f87 85 esp.attach(&callback);
edy05 2:d172c9963f87 86 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 2:d172c9963f87 87 pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
edy05 2:d172c9963f87 88 pc.printf(" Web Characters sent : %d\n\n", bufl);
edy05 2:d172c9963f87 89 pc.printf(" -------------------------------------\n\n");
edy05 2:d172c9963f87 90 servreq=0;
edy05 15:9cdf757269fb 91 memset(_serverMessage, '\0', sizeof(_serverMessage));
edy05 2:d172c9963f87 92 }
edy05 26:11539036f0fb 93 Thread::wait(5);
edy05 2:d172c9963f87 94 }
edy05 2:d172c9963f87 95 }
edy05 2:d172c9963f87 96
edy05 2:d172c9963f87 97
edy05 2:d172c9963f87 98 // Static WEB page
edy05 2:d172c9963f87 99 void sendpage(){
edy05 2:d172c9963f87 100 strcpy(webbuff, "<!DOCTYPE html>");
edy05 2:d172c9963f87 101 strcat(webbuff, "<html><head><title>ESP8266 Mbed LPC1768</title></head>");
edy05 2:d172c9963f87 102 strcat(webbuff, "<body>");
edy05 2:d172c9963f87 103 strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web PID Controller</h1>");
edy05 2:d172c9963f87 104 strcat(webbuff, "Hit Count - ");
edy05 2:d172c9963f87 105 strcat(webbuff, webcount);
edy05 2:d172c9963f87 106 strcat(webbuff, "</div><br /><hr>");
edy05 15:9cdf757269fb 107 //server message (mostly errors)
edy05 15:9cdf757269fb 108 strcat(webbuff, "<div stye=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h3>Server messages</h3>");
edy05 15:9cdf757269fb 109 strcat(webbuff, _serverMessage);
edy05 15:9cdf757269fb 110 strcat(webbuff, "</div><br><hr>");
edy05 2:d172c9963f87 111 strcat(webbuff, "<p><form method=\"POST\">");
edy05 2:d172c9963f87 112 if(led1==0) {
edy05 2:d172c9963f87 113 strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked> LED 1 off");
edy05 2:d172c9963f87 114 strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" > LED 1 on<br>");
edy05 2:d172c9963f87 115 } else {
edy05 2:d172c9963f87 116 strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" > LED 1 off");
edy05 2:d172c9963f87 117 strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked> LED 1 on<br>");
edy05 2:d172c9963f87 118 }
edy05 21:0afb91824792 119 // ground regulation
edy05 21:0afb91824792 120 if(_groundRegulation) {
edy05 21:0afb91824792 121 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" checked> Ground regulation ON");
edy05 21:0afb91824792 122 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" > Ground regulation OFF<br>");
edy05 21:0afb91824792 123 } else {
edy05 21:0afb91824792 124 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" > Ground regulation ON");
edy05 25:69190c222dbf 125 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" checked> Ground regulation OFF<br>");
edy05 21:0afb91824792 126 }
edy05 25:69190c222dbf 127 // pid ground min output
edy05 25:69190c222dbf 128 strcat(webbuff, "pid min Output: <input type=\"text\" name=\"groundPidMinOutput\" size=6 value=\"");
edy05 25:69190c222dbf 129 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 130 strcat(webbuff, _str);
edy05 25:69190c222dbf 131 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 132 //pid ground max output
edy05 25:69190c222dbf 133 strcat(webbuff, "pid max Output: <input type=\"text\" name=\"groundPidMaxOutput\" size=6 value=\"");
edy05 25:69190c222dbf 134 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 135 strcat(webbuff, _str);
edy05 25:69190c222dbf 136 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 137 //ground regulation bias
edy05 25:69190c222dbf 138 strcat(webbuff, "Bias: <input type=\"text\" name=\"bias\" size=6 value=\"");
edy05 25:69190c222dbf 139 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 140 strcat(webbuff, _str);
edy05 25:69190c222dbf 141 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 142 strcat(webbuff, "P: <input type=\"text\" name=\"proportional\" size=6 value=\"");
edy05 9:86a5af9935b1 143 ConvertToCharArray(_P);
edy05 9:86a5af9935b1 144 strcat(webbuff, _str);
edy05 2:d172c9963f87 145 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 146 strcat(webbuff, "I: <input type=\"text\" name=\"integral\" size=6 value=\"");
edy05 9:86a5af9935b1 147 ConvertToCharArray(_I);
edy05 9:86a5af9935b1 148 strcat(webbuff, _str);
edy05 2:d172c9963f87 149 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 150 strcat(webbuff, "D: <input type=\"text\" name=\"derivative\" size=6 value=\"");
edy05 9:86a5af9935b1 151 ConvertToCharArray(_D);
edy05 9:86a5af9935b1 152 strcat(webbuff, _str);
edy05 2:d172c9963f87 153 strcat(webbuff, "\"><br>");
edy05 14:076ef843e1ba 154 //Ground set Point
edy05 14:076ef843e1ba 155 strcat(webbuff, "Ground setPoint: <input type=\"text\" name=\"groundSetPoint\" size=6 value=\"");
edy05 14:076ef843e1ba 156 ConvertToCharArray(_groundSetPoint);
edy05 14:076ef843e1ba 157 strcat(webbuff, _str);
edy05 14:076ef843e1ba 158 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 159 strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" checked>");
edy05 2:d172c9963f87 160 strcat(webbuff, "<p><input type=\"submit\" value=\"send-refresh\" style=\"background: #3498db;");
edy05 2:d172c9963f87 161 strcat(webbuff, "background-image:-webkit-linear-gradient(top, #3498db, #2980b9);");
edy05 2:d172c9963f87 162 strcat(webbuff, "background-image:linear-gradient(to bottom, #3498db, #2980b9);");
edy05 2:d172c9963f87 163 strcat(webbuff, "-webkit-border-radius:12;border-radius: 12px;font-family: Arial;color:#ffffff;font-size:20px;padding:");
edy05 2:d172c9963f87 164 strcat(webbuff, "10px 20px 10px 20px; border:solid #103c57 3px;text-decoration: none;");
edy05 2:d172c9963f87 165 strcat(webbuff, "background: #3cb0fd;");
edy05 2:d172c9963f87 166 strcat(webbuff, "background-image:-webkit-linear-gradient(top,#3cb0fd,#1a5f8a);");
edy05 2:d172c9963f87 167 strcat(webbuff, "background-image:linear-gradient(to bottom,#3cb0fd,#1a5f8a);");
edy05 2:d172c9963f87 168 strcat(webbuff, "text-decoration:none;\"></form>");
edy05 2:d172c9963f87 169 strcat(webbuff, "</body></html>");
edy05 2:d172c9963f87 170 // end of WEB page data
edy05 2:d172c9963f87 171 bufl = strlen(webbuff); // get total page buffer length
edy05 2:d172c9963f87 172 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
edy05 2:d172c9963f87 173 timeout=200;
edy05 2:d172c9963f87 174 getcount=7;
edy05 2:d172c9963f87 175 SendCMD();
edy05 2:d172c9963f87 176 getreply();
edy05 2:d172c9963f87 177 SendWEB(); // send web page
edy05 2:d172c9963f87 178 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 179 sendcheck();
edy05 2:d172c9963f87 180
edy05 2:d172c9963f87 181 }
edy05 2:d172c9963f87 182
edy05 2:d172c9963f87 183 void sendcheck(){
edy05 2:d172c9963f87 184 weberror=1;
edy05 2:d172c9963f87 185 timeout=500;
edy05 2:d172c9963f87 186 getcount=24;
edy05 2:d172c9963f87 187 t2.reset();
edy05 2:d172c9963f87 188 t2.start();
edy05 2:d172c9963f87 189 while(weberror==1 && t2.read() <5) {
edy05 2:d172c9963f87 190 getreply();
edy05 2:d172c9963f87 191 if (strstr(replybuff, "SEND OK") != NULL) {
edy05 2:d172c9963f87 192 weberror=0; // wait for valid SEND OK
edy05 2:d172c9963f87 193 }
edy05 2:d172c9963f87 194 }
edy05 2:d172c9963f87 195 if(weberror==1) { // restart connection
edy05 2:d172c9963f87 196 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
edy05 2:d172c9963f87 197 timeout=500;
edy05 2:d172c9963f87 198 getcount=10;
edy05 2:d172c9963f87 199 SendCMD();
edy05 2:d172c9963f87 200 getreply();
edy05 2:d172c9963f87 201 pc.printf(replybuff);
edy05 2:d172c9963f87 202 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 203 timeout=500;
edy05 2:d172c9963f87 204 getcount=10;
edy05 2:d172c9963f87 205 SendCMD();
edy05 2:d172c9963f87 206 getreply();
edy05 2:d172c9963f87 207 pc.printf(replybuff);
edy05 2:d172c9963f87 208 } else {
edy05 2:d172c9963f87 209 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
edy05 2:d172c9963f87 210 SendCMD();
edy05 2:d172c9963f87 211 getreply();
edy05 2:d172c9963f87 212 pc.printf(replybuff);
edy05 2:d172c9963f87 213 }
edy05 2:d172c9963f87 214 t2.reset();
edy05 2:d172c9963f87 215 }
edy05 2:d172c9963f87 216
edy05 2:d172c9963f87 217 // Large WEB buffer data send
edy05 2:d172c9963f87 218 void SendWEB()
edy05 2:d172c9963f87 219 {
edy05 2:d172c9963f87 220 int i=0;
edy05 2:d172c9963f87 221 if(esp.writeable()) {
edy05 2:d172c9963f87 222 while(webbuff[i]!='\0') {
edy05 2:d172c9963f87 223 esp.putc(webbuff[i]);
edy05 2:d172c9963f87 224 i++;
edy05 2:d172c9963f87 225 }
edy05 2:d172c9963f87 226 }
edy05 2:d172c9963f87 227 }
edy05 2:d172c9963f87 228
edy05 2:d172c9963f87 229 // Reads and processes GET and POST web data
edy05 2:d172c9963f87 230 void ReadWebData(){
edy05 2:d172c9963f87 231 wait_ms(200);
edy05 2:d172c9963f87 232 esp.attach(NULL);
edy05 2:d172c9963f87 233 count=0;
edy05 2:d172c9963f87 234 DataRX=0;
edy05 2:d172c9963f87 235 weberror=0;
edy05 2:d172c9963f87 236 memset(webdata, '\0', sizeof(webdata));
edy05 2:d172c9963f87 237 int x = strcspn (webbuff,"+");
edy05 2:d172c9963f87 238 if(x) {
edy05 2:d172c9963f87 239 strcpy(webdata, webbuff + x);
edy05 2:d172c9963f87 240 pc.printf("webdata received: %s", webdata);
edy05 2:d172c9963f87 241 weberror=0;
edy05 2:d172c9963f87 242 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
edy05 2:d172c9963f87 243 if (strstr(webdata, "led1=1") != NULL ) {
edy05 2:d172c9963f87 244 led1=1;
edy05 2:d172c9963f87 245 }
edy05 2:d172c9963f87 246 if (strstr(webdata, "led1=0") != NULL ) {
edy05 2:d172c9963f87 247 led1=0;
edy05 2:d172c9963f87 248 }
edy05 21:0afb91824792 249 //ground regulation
edy05 21:0afb91824792 250 if (strstr(webdata, "groundRegulation=1") != NULL )
edy05 21:0afb91824792 251 _groundRegulation = true;
edy05 21:0afb91824792 252 if (strstr(webdata, "groundRegulation=0") != NULL )
edy05 21:0afb91824792 253 _groundRegulation = false;
edy05 25:69190c222dbf 254 // pid min Output
edy05 25:69190c222dbf 255 if (strstr(webdata, "groundPidMinOutput") != NULL ){
edy05 25:69190c222dbf 256 pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 257 char* p_webdata = strstr(webdata, "groundPidMinOutput");
edy05 25:69190c222dbf 258 p_webdata = p_webdata + strlen("groundPidMinOutput") + 1;
edy05 25:69190c222dbf 259 int i = 0;
edy05 25:69190c222dbf 260 while(*p_webdata != '&'){
edy05 25:69190c222dbf 261 pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 262 _str[i] = *p_webdata;
edy05 25:69190c222dbf 263 p_webdata += 1;
edy05 25:69190c222dbf 264 i++;
edy05 25:69190c222dbf 265 }
edy05 25:69190c222dbf 266 pc.printf("\n\r");
edy05 25:69190c222dbf 267 _str[i] = '\0';
edy05 25:69190c222dbf 268 pc.printf("groundPidMinOutput: %s", _str);
edy05 25:69190c222dbf 269 _groundPidMinOutput = atof(_str);
edy05 25:69190c222dbf 270 pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 271 }
edy05 25:69190c222dbf 272 //pid max output
edy05 25:69190c222dbf 273 if (strstr(webdata, "groundPidMaxOutput") != NULL ){
edy05 25:69190c222dbf 274 pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 275 char* p_webdata = strstr(webdata, "groundPidMaxOutput");
edy05 25:69190c222dbf 276 p_webdata = p_webdata + strlen("groundPidMaxOutput") + 1;
edy05 25:69190c222dbf 277 int i = 0;
edy05 25:69190c222dbf 278 while(*p_webdata != '&'){
edy05 25:69190c222dbf 279 pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 280 _str[i] = *p_webdata;
edy05 25:69190c222dbf 281 p_webdata += 1;
edy05 25:69190c222dbf 282 i++;
edy05 25:69190c222dbf 283 }
edy05 25:69190c222dbf 284 pc.printf("\n\r");
edy05 25:69190c222dbf 285 _str[i] = '\0';
edy05 25:69190c222dbf 286 pc.printf("groundPidMaxOutput: %s", _str);
edy05 25:69190c222dbf 287 _groundPidMaxOutput = atof(_str);
edy05 25:69190c222dbf 288 pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 289 }
edy05 25:69190c222dbf 290 //bias
edy05 25:69190c222dbf 291 if (strstr(webdata, "bias") != NULL ){
edy05 25:69190c222dbf 292 pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 293 char* p_webdata = strstr(webdata, "bias");
edy05 25:69190c222dbf 294 p_webdata = p_webdata + strlen("bias") + 1;
edy05 25:69190c222dbf 295 int i = 0;
edy05 25:69190c222dbf 296 while(*p_webdata != '&'){
edy05 25:69190c222dbf 297 pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 298 _str[i] = *p_webdata;
edy05 25:69190c222dbf 299 p_webdata += 1;
edy05 25:69190c222dbf 300 i++;
edy05 25:69190c222dbf 301 }
edy05 25:69190c222dbf 302 pc.printf("\n\r");
edy05 25:69190c222dbf 303 _str[i] = '\0';
edy05 25:69190c222dbf 304 pc.printf("bias: %s", _str);
edy05 25:69190c222dbf 305 _bias = atof(_str);
edy05 25:69190c222dbf 306 pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 307 }
edy05 21:0afb91824792 308 // PID values
edy05 2:d172c9963f87 309 if (strstr(webdata, "proportional") != NULL ){
edy05 2:d172c9963f87 310 pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 311 char* p_webdata = strstr(webdata, "proportional");
edy05 2:d172c9963f87 312 p_webdata = p_webdata + strlen("proportional") + 1;
edy05 2:d172c9963f87 313 int i = 0;
edy05 2:d172c9963f87 314 while(*p_webdata != '&'){
edy05 2:d172c9963f87 315 pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 316 _str[i] = *p_webdata;
edy05 2:d172c9963f87 317 p_webdata += 1;
edy05 2:d172c9963f87 318 i++;
edy05 2:d172c9963f87 319 }
edy05 2:d172c9963f87 320 pc.printf("\n\r");
edy05 9:86a5af9935b1 321 _str[i] = '\0';
edy05 9:86a5af9935b1 322 pc.printf("proportional: %s", _str);
edy05 9:86a5af9935b1 323 _P = atof(_str);
edy05 2:d172c9963f87 324 pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 325 }
edy05 2:d172c9963f87 326 if (strstr(webdata, "integral") != NULL){
edy05 2:d172c9963f87 327 pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 328 char* p_webdata = strstr(webdata, "integral");
edy05 2:d172c9963f87 329 p_webdata = p_webdata + strlen("integral") + 1;
edy05 2:d172c9963f87 330 int i = 0;
edy05 2:d172c9963f87 331 while(*p_webdata != '&'){
edy05 2:d172c9963f87 332 pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 333 _str[i] = *p_webdata;
edy05 2:d172c9963f87 334 p_webdata += 1;
edy05 2:d172c9963f87 335 i++;
edy05 2:d172c9963f87 336 }
edy05 2:d172c9963f87 337 pc.printf("\n\r");
edy05 9:86a5af9935b1 338 _str[i] = '\0';
edy05 9:86a5af9935b1 339 pc.printf("integral: %s", _str);
edy05 9:86a5af9935b1 340 _I = atof(_str);
edy05 2:d172c9963f87 341 pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 342
edy05 2:d172c9963f87 343 }
edy05 2:d172c9963f87 344 if (strstr(webdata, "derivative") != NULL){
edy05 2:d172c9963f87 345 pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 346 char* p_webdata = strstr(webdata, "derivative");
edy05 2:d172c9963f87 347 p_webdata = p_webdata + strlen("derivative") + 1;
edy05 2:d172c9963f87 348 int i = 0;
edy05 2:d172c9963f87 349 while(*p_webdata != '&'){
edy05 2:d172c9963f87 350 pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 351 _str[i] = *p_webdata;
edy05 2:d172c9963f87 352 p_webdata += 1;
edy05 2:d172c9963f87 353 i++;
edy05 2:d172c9963f87 354 }
edy05 2:d172c9963f87 355 pc.printf("\n\r");
edy05 9:86a5af9935b1 356 _str[i] = '\0';
edy05 9:86a5af9935b1 357 pc.printf("derivative: %s", _str);
edy05 9:86a5af9935b1 358 _D = atof(_str);
edy05 2:d172c9963f87 359 pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 360 }
edy05 14:076ef843e1ba 361 if (strstr(webdata, "groundSetPoint") != NULL){
edy05 14:076ef843e1ba 362 pc.printf("\n\r looking for data \n\r");
edy05 14:076ef843e1ba 363 char* p_webdata = strstr(webdata, "groundSetPoint");
edy05 14:076ef843e1ba 364 p_webdata = p_webdata + strlen("groundSetPoint") + 1;
edy05 14:076ef843e1ba 365 int i = 0;
edy05 14:076ef843e1ba 366 while(*p_webdata != '&'){
edy05 14:076ef843e1ba 367 pc.printf("%c", *p_webdata);
edy05 14:076ef843e1ba 368 _str[i] = *p_webdata;
edy05 14:076ef843e1ba 369 p_webdata += 1;
edy05 14:076ef843e1ba 370 i++;
edy05 14:076ef843e1ba 371 }
edy05 14:076ef843e1ba 372 pc.printf("\n\r");
edy05 14:076ef843e1ba 373 _str[i] = '\0';
edy05 14:076ef843e1ba 374 pc.printf("groundSetPoint: %s", _str);
edy05 14:076ef843e1ba 375 _groundSetPoint = atof(_str);
edy05 14:076ef843e1ba 376 pc.printf("\n\r end of looking for data \n\r");
edy05 14:076ef843e1ba 377 }
edy05 2:d172c9963f87 378 sprintf(channel, "%d",linkID);
edy05 2:d172c9963f87 379 if (strstr(webdata, "GET") != NULL) {
edy05 2:d172c9963f87 380 servreq=1;
edy05 2:d172c9963f87 381 }
edy05 2:d172c9963f87 382 if (strstr(webdata, "POST") != NULL) {
edy05 2:d172c9963f87 383 servreq=1;
edy05 2:d172c9963f87 384 }
edy05 2:d172c9963f87 385 webcounter++;
edy05 2:d172c9963f87 386 sprintf(webcount, "%d",webcounter);
edy05 2:d172c9963f87 387 }else{
edy05 2:d172c9963f87 388 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 389 esp.attach(&callback);
edy05 2:d172c9963f87 390 weberror=1;
edy05 2:d172c9963f87 391 }
edy05 2:d172c9963f87 392
edy05 2:d172c9963f87 393 }
edy05 2:d172c9963f87 394
edy05 2:d172c9963f87 395 void startserver(){
edy05 2:d172c9963f87 396 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
edy05 2:d172c9963f87 397 strcpy(cmdbuff,"AT+RST\r\n");
edy05 2:d172c9963f87 398 timeout=8000;
edy05 2:d172c9963f87 399 getcount=1000;
edy05 2:d172c9963f87 400 SendCMD();
edy05 2:d172c9963f87 401 getreply();
edy05 2:d172c9963f87 402 pc.printf(replybuff);
edy05 2:d172c9963f87 403 pc.printf("%d",count);
edy05 2:d172c9963f87 404 if (strstr(replybuff, "OK") != NULL) {
edy05 2:d172c9963f87 405 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
edy05 2:d172c9963f87 406 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
edy05 2:d172c9963f87 407 timeout=500;
edy05 2:d172c9963f87 408 getcount=20;
edy05 2:d172c9963f87 409 SendCMD();
edy05 2:d172c9963f87 410 getreply();
edy05 2:d172c9963f87 411 pc.printf(replybuff);
edy05 2:d172c9963f87 412 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 413 timeout=500;
edy05 2:d172c9963f87 414 getcount=20;
edy05 2:d172c9963f87 415 SendCMD();
edy05 2:d172c9963f87 416 getreply();
edy05 2:d172c9963f87 417 pc.printf(replybuff);
edy05 2:d172c9963f87 418 wait(1);
edy05 2:d172c9963f87 419 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
edy05 2:d172c9963f87 420 timeout=500;
edy05 2:d172c9963f87 421 getcount=50;
edy05 2:d172c9963f87 422 SendCMD();
edy05 2:d172c9963f87 423 getreply();
edy05 2:d172c9963f87 424 pc.printf(replybuff);
edy05 2:d172c9963f87 425 wait(5);
edy05 2:d172c9963f87 426 pc.printf("\n Getting Server IP \r\n");
edy05 2:d172c9963f87 427 strcpy(cmdbuff, "AT+CIFSR\r\n");
edy05 2:d172c9963f87 428 timeout=2500;
edy05 2:d172c9963f87 429 getcount=200;
edy05 2:d172c9963f87 430 while(weberror==0) {
edy05 2:d172c9963f87 431 SendCMD();
edy05 2:d172c9963f87 432 getreply();
edy05 2:d172c9963f87 433 if (strstr(replybuff, "0.0.0.0") == NULL) {
edy05 2:d172c9963f87 434 weberror=1; // wait for valid IP
edy05 2:d172c9963f87 435 }
edy05 2:d172c9963f87 436 }
edy05 2:d172c9963f87 437 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
edy05 2:d172c9963f87 438 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
edy05 2:d172c9963f87 439 replybuff[strlen(replybuff)-1] = '\0';
edy05 2:d172c9963f87 440 //char* IP = replybuff + 5;
edy05 2:d172c9963f87 441 sprintf(webdata,"%s", replybuff);
edy05 2:d172c9963f87 442 //SAVE IP ADDRESS
edy05 2:d172c9963f87 443 get_ip_address(webdata);
edy05 2:d172c9963f87 444 pc.printf("ip_address: %s\n\r",ip_address);
edy05 2:d172c9963f87 445 pc.printf(webdata);
edy05 2:d172c9963f87 446 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
edy05 2:d172c9963f87 447 esp.attach(&callback);
edy05 2:d172c9963f87 448 } else {
edy05 2:d172c9963f87 449 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
edy05 2:d172c9963f87 450 while(1) {}
edy05 2:d172c9963f87 451 }
edy05 2:d172c9963f87 452 t2.reset();
edy05 2:d172c9963f87 453 t2.start();
edy05 2:d172c9963f87 454 }
edy05 2:d172c9963f87 455
edy05 2:d172c9963f87 456 void SendCMD()
edy05 2:d172c9963f87 457 {
edy05 2:d172c9963f87 458 esp.printf("%s", cmdbuff);
edy05 2:d172c9963f87 459 }
edy05 2:d172c9963f87 460
edy05 2:d172c9963f87 461 void getreply()
edy05 2:d172c9963f87 462 {
edy05 2:d172c9963f87 463 memset(replybuff, '\0', sizeof(replybuff));
edy05 2:d172c9963f87 464 t1.reset();
edy05 2:d172c9963f87 465 t1.start();
edy05 2:d172c9963f87 466 replycount=0;
edy05 2:d172c9963f87 467 while(t1.read_ms()< timeout && replycount < getcount) {
edy05 2:d172c9963f87 468 if(esp.readable()) {
edy05 2:d172c9963f87 469 replybuff[replycount] = esp.getc();
edy05 2:d172c9963f87 470 replycount++;
edy05 2:d172c9963f87 471 }
edy05 2:d172c9963f87 472 }
edy05 2:d172c9963f87 473 t1.stop();
edy05 2:d172c9963f87 474 }
edy05 2:d172c9963f87 475
edy05 2:d172c9963f87 476 void get_ip_address(char web_data[1024]){
edy05 2:d172c9963f87 477 char pre_text[] = "+CIFSR:STAIP,\"";
edy05 2:d172c9963f87 478 char* p_text = strstr(webdata, pre_text);
edy05 2:d172c9963f87 479 p_text = p_text+strlen(pre_text);
edy05 2:d172c9963f87 480 char* p_text2 = strstr(p_text, "\"");
edy05 2:d172c9963f87 481 for(int i = 0;;i++){
edy05 2:d172c9963f87 482 if(*(p_text+i) == *p_text2){
edy05 2:d172c9963f87 483 ip_address[i] = '\0';
edy05 2:d172c9963f87 484 break;
edy05 2:d172c9963f87 485 }
edy05 2:d172c9963f87 486 ip_address[i] = *(p_text+i);
edy05 2:d172c9963f87 487
edy05 2:d172c9963f87 488 }
edy05 2:d172c9963f87 489 }