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@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 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 26:11539036f0fb 19 RtosTimer *_groudRegulationUpdateTimer;
edy05 26:11539036f0fb 20 HCSR04* _sonic;
edy05 26:11539036f0fb 21 PpmRegen* _ppmRegen;
edy05 11:002927b2675d 22
edy05 11:002927b2675d 23 ConfigFile _configFile;
edy05 11:002927b2675d 24 LocalFileSystem local("local");
edy05 2:d172c9963f87 25
edy05 2:d172c9963f87 26 Thread serverThread;
edy05 26:11539036f0fb 27 Thread _distanceThread;
edy05 2:d172c9963f87 28
edy05 2:d172c9963f87 29 InterruptIn* _interruptPort = new InterruptIn(p28);
edy05 2:d172c9963f87 30 PwmOut* _roll = new PwmOut(p21);
edy05 2:d172c9963f87 31 PwmOut* _pitch = new PwmOut(p22);
edy05 2:d172c9963f87 32 PwmOut* _throttle = new PwmOut(p23);
edy05 2:d172c9963f87 33 PwmOut* _yaw = new PwmOut(p24);
edy05 2:d172c9963f87 34 PwmOut* _aux1 = new PwmOut(p25);
edy05 2:d172c9963f87 35 PwmOut* _aux2 = new PwmOut(p26);
edy05 2:d172c9963f87 36
edy05 2:d172c9963f87 37
edy05 9:86a5af9935b1 38 char* _str = new char[1024];
edy05 15:9cdf757269fb 39 char* _serverMessage = new char[1024];
edy05 17:1896d242945b 40 bool _configChanges = false;
edy05 15:9cdf757269fb 41 // zero is default value
edy05 9:86a5af9935b1 42 float _P = 0;
edy05 9:86a5af9935b1 43 float _I = 0;
edy05 9:86a5af9935b1 44 float _D = 0;
edy05 14:076ef843e1ba 45 int _groundSetPoint = 0;
edy05 25:69190c222dbf 46 int _bias = 0;
edy05 25:69190c222dbf 47 int _groundPidMinOutput = 0;
edy05 25:69190c222dbf 48 int _groundPidMaxOutput = 0;
edy05 21:0afb91824792 49 bool _groundRegulation = false;
edy05 8:b5128641d4cf 50
edy05 11:002927b2675d 51
edy05 11:002927b2675d 52
edy05 11:002927b2675d 53
edy05 10:bb9c778f8e3e 54
edy05 9:86a5af9935b1 55 void loadConfigFile(void){
edy05 9:86a5af9935b1 56 //reading configFile
edy05 9:86a5af9935b1 57 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 58 char value[BUFSIZ];
edy05 25:69190c222dbf 59 if (_configFile.getValue("bias", &value[0], sizeof(value)))
edy05 25:69190c222dbf 60 _bias = atof(value);
edy05 25:69190c222dbf 61 if (_configFile.getValue("groundPidMinOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 62 _groundPidMinOutput = atof(value);
edy05 25:69190c222dbf 63 if (_configFile.getValue("groundPidMaxOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 64 _groundPidMaxOutput = atof(value);
edy05 9:86a5af9935b1 65 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 66 _P = atof(value);
edy05 9:86a5af9935b1 67 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 68 _I = atof(value);
edy05 9:86a5af9935b1 69 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 70 _D = atof(value);
edy05 14:076ef843e1ba 71 if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
edy05 14:076ef843e1ba 72 _groundSetPoint = atof(value);
edy05 9:86a5af9935b1 73
edy05 9:86a5af9935b1 74 }
edy05 9:86a5af9935b1 75
edy05 11:002927b2675d 76 void writeSettingsToConfig(void){
edy05 25:69190c222dbf 77 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 78 if(!_configFile.setValue("bias", _str))
edy05 25:69190c222dbf 79 strcat(_serverMessage, "bias value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 80 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 81 if(!_configFile.setValue("groundPidMinOutput", _str))
edy05 25:69190c222dbf 82 strcat(_serverMessage, "groundPidMinOutput value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 83 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 84 if(!_configFile.setValue("groundPidMaxOutput", _str))
edy05 25:69190c222dbf 85 strcat(_serverMessage, "groundPidMaxOutput value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 86 ConvertToCharArray(_P);
edy05 15:9cdf757269fb 87 if(!_configFile.setValue("P", _str))
edy05 15:9cdf757269fb 88 strcat(_serverMessage, "P value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 89 ConvertToCharArray(_I);
edy05 15:9cdf757269fb 90 if(!_configFile.setValue("I", _str))
edy05 15:9cdf757269fb 91 strcat(_serverMessage, "I value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 92 ConvertToCharArray(_D);
edy05 15:9cdf757269fb 93 if(!_configFile.setValue("D", _str))
edy05 15:9cdf757269fb 94 strcat(_serverMessage, "D value could not be saved to configFile\n\r");
edy05 14:076ef843e1ba 95 ConvertToCharArray(_groundSetPoint);
edy05 15:9cdf757269fb 96 if(!_configFile.setValue("groundSetPoint", _str)){
edy05 15:9cdf757269fb 97 strcat(_serverMessage, "groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 98 pc.printf("groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 99 }
edy05 10:bb9c778f8e3e 100
edy05 10:bb9c778f8e3e 101 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 102
edy05 17:1896d242945b 103 _configChanges = true;
edy05 13:33024b5880b3 104
edy05 10:bb9c778f8e3e 105 }
edy05 10:bb9c778f8e3e 106
edy05 11:002927b2675d 107
edy05 11:002927b2675d 108 void writeErrorLog(char *message){
edy05 11:002927b2675d 109 FILE *fp = fopen("/local/errorlog.txt", "w");
edy05 11:002927b2675d 110 fprintf(fp, message);
edy05 11:002927b2675d 111 fclose(fp);
edy05 11:002927b2675d 112
edy05 11:002927b2675d 113 }
edy05 11:002927b2675d 114
edy05 11:002927b2675d 115
edy05 9:86a5af9935b1 116 //Converts float to char array
edy05 9:86a5af9935b1 117 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 118 {
edy05 25:69190c222dbf 119 sprintf(_str, "%3.6f", number );
edy05 9:86a5af9935b1 120 }
edy05 8:b5128641d4cf 121
edy05 14:076ef843e1ba 122 //Converts integer to char array
edy05 14:076ef843e1ba 123 void ConvertToCharArray(int number)
edy05 14:076ef843e1ba 124 {
edy05 14:076ef843e1ba 125 sprintf(_str, "%d", number );
edy05 14:076ef843e1ba 126 }
edy05 14:076ef843e1ba 127
edy05 8:b5128641d4cf 128
edy05 2:d172c9963f87 129 #endif