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@17:1896d242945b, 2017-10-29 (annotated)

Committer:
edy05
Date:
Sun Oct 29 10:25:58 2017 +0000
Branch:
DistanceRegulation
Revision:
17:1896d242945b
Parent:
16:9490bb68e1fb
Child:
21:0afb91824792
_pidChanged changed to _configChanges

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 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 8:b5128641d4cf 45
edy05 11:002927b2675d 46
edy05 11:002927b2675d 47
edy05 11:002927b2675d 48
edy05 10:bb9c778f8e3e 49
edy05 9:86a5af9935b1 50 void loadConfigFile(void){
edy05 9:86a5af9935b1 51 //reading configFile
edy05 9:86a5af9935b1 52 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 53 char value[BUFSIZ];
edy05 9:86a5af9935b1 54 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 55 _P = atof(value);
edy05 9:86a5af9935b1 56 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 57 _I = atof(value);
edy05 9:86a5af9935b1 58 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 59 _D = atof(value);
edy05 14:076ef843e1ba 60 if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
edy05 14:076ef843e1ba 61 _groundSetPoint = atof(value);
edy05 9:86a5af9935b1 62
edy05 9:86a5af9935b1 63 }
edy05 9:86a5af9935b1 64
edy05 11:002927b2675d 65 void writeSettingsToConfig(void){
edy05 10:bb9c778f8e3e 66 ConvertToCharArray(_P);
edy05 15:9cdf757269fb 67 if(!_configFile.setValue("P", _str))
edy05 15:9cdf757269fb 68 strcat(_serverMessage, "P value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 69 ConvertToCharArray(_I);
edy05 15:9cdf757269fb 70 if(!_configFile.setValue("I", _str))
edy05 15:9cdf757269fb 71 strcat(_serverMessage, "I value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 72 ConvertToCharArray(_D);
edy05 15:9cdf757269fb 73 if(!_configFile.setValue("D", _str))
edy05 15:9cdf757269fb 74 strcat(_serverMessage, "D value could not be saved to configFile\n\r");
edy05 14:076ef843e1ba 75 ConvertToCharArray(_groundSetPoint);
edy05 15:9cdf757269fb 76 if(!_configFile.setValue("groundSetPoint", _str)){
edy05 15:9cdf757269fb 77 strcat(_serverMessage, "groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 78 pc.printf("groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 79 }
edy05 10:bb9c778f8e3e 80
edy05 10:bb9c778f8e3e 81 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 82
edy05 17:1896d242945b 83 _configChanges = true;
edy05 13:33024b5880b3 84
edy05 10:bb9c778f8e3e 85 }
edy05 10:bb9c778f8e3e 86
edy05 11:002927b2675d 87
edy05 11:002927b2675d 88 void writeErrorLog(char *message){
edy05 11:002927b2675d 89 FILE *fp = fopen("/local/errorlog.txt", "w");
edy05 11:002927b2675d 90 fprintf(fp, message);
edy05 11:002927b2675d 91 fclose(fp);
edy05 11:002927b2675d 92
edy05 11:002927b2675d 93 }
edy05 11:002927b2675d 94
edy05 11:002927b2675d 95
edy05 9:86a5af9935b1 96 //Converts float to char array
edy05 9:86a5af9935b1 97 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 98 {
edy05 9:86a5af9935b1 99 sprintf(_str, "%4.2f", number );
edy05 9:86a5af9935b1 100 }
edy05 8:b5128641d4cf 101
edy05 14:076ef843e1ba 102 //Converts integer to char array
edy05 14:076ef843e1ba 103 void ConvertToCharArray(int number)
edy05 14:076ef843e1ba 104 {
edy05 14:076ef843e1ba 105 sprintf(_str, "%d", number );
edy05 14:076ef843e1ba 106 }
edy05 14:076ef843e1ba 107
edy05 8:b5128641d4cf 108
edy05 2:d172c9963f87 109 #endif