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@13:33024b5880b3, 2017-10-27 (annotated)

Committer:
edy05
Date:
Fri Oct 27 10:47:12 2017 +0000
Revision:
13:33024b5880b3
Parent:
11:002927b2675d
Child:
14:076ef843e1ba
merge

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 11:002927b2675d 15
edy05 2:d172c9963f87 16 Serial pc(USBTX, USBRX); // tx, rx
edy05 11:002927b2675d 17 PID* _groundDistance;
edy05 11:002927b2675d 18 HCSR04* _sonic;
edy05 11:002927b2675d 19 PpmRegen* _ppmRegen;
edy05 11:002927b2675d 20
edy05 11:002927b2675d 21 ConfigFile _configFile;
edy05 11:002927b2675d 22 LocalFileSystem local("local");
edy05 2:d172c9963f87 23
edy05 2:d172c9963f87 24 Thread serverThread;
edy05 2:d172c9963f87 25 Thread distanceThread;
edy05 2:d172c9963f87 26
edy05 2:d172c9963f87 27 InterruptIn* _interruptPort = new InterruptIn(p28);
edy05 2:d172c9963f87 28 PwmOut* _roll = new PwmOut(p21);
edy05 2:d172c9963f87 29 PwmOut* _pitch = new PwmOut(p22);
edy05 2:d172c9963f87 30 PwmOut* _throttle = new PwmOut(p23);
edy05 2:d172c9963f87 31 PwmOut* _yaw = new PwmOut(p24);
edy05 2:d172c9963f87 32 PwmOut* _aux1 = new PwmOut(p25);
edy05 2:d172c9963f87 33 PwmOut* _aux2 = new PwmOut(p26);
edy05 2:d172c9963f87 34
edy05 2:d172c9963f87 35
edy05 9:86a5af9935b1 36 char* _str = new char[1024];
edy05 13:33024b5880b3 37 bool pidChanged = false;
edy05 9:86a5af9935b1 38 float _P = 0;
edy05 9:86a5af9935b1 39 float _I = 0;
edy05 9:86a5af9935b1 40 float _D = 0;
edy05 8:b5128641d4cf 41
edy05 11:002927b2675d 42
edy05 11:002927b2675d 43
edy05 11:002927b2675d 44
edy05 10:bb9c778f8e3e 45
edy05 9:86a5af9935b1 46 void loadConfigFile(void){
edy05 9:86a5af9935b1 47 //reading configFile
edy05 9:86a5af9935b1 48 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 49 char value[BUFSIZ];
edy05 9:86a5af9935b1 50 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 51 _P = atof(value);
edy05 9:86a5af9935b1 52 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 53 _I = atof(value);
edy05 9:86a5af9935b1 54 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 55 _D = atof(value);
edy05 9:86a5af9935b1 56
edy05 9:86a5af9935b1 57 }
edy05 9:86a5af9935b1 58
edy05 11:002927b2675d 59 void writeSettingsToConfig(void){
edy05 10:bb9c778f8e3e 60 ConvertToCharArray(_P);
edy05 10:bb9c778f8e3e 61 _configFile.setValue("P", _str);
edy05 10:bb9c778f8e3e 62 ConvertToCharArray(_I);
edy05 10:bb9c778f8e3e 63 _configFile.setValue("I", _str);
edy05 10:bb9c778f8e3e 64 ConvertToCharArray(_D);
edy05 10:bb9c778f8e3e 65 _configFile.setValue("D", _str);
edy05 10:bb9c778f8e3e 66
edy05 10:bb9c778f8e3e 67 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 68
edy05 13:33024b5880b3 69 pidChanged = true;
edy05 13:33024b5880b3 70
edy05 10:bb9c778f8e3e 71 }
edy05 10:bb9c778f8e3e 72
edy05 11:002927b2675d 73
edy05 11:002927b2675d 74 void writeErrorLog(char *message){
edy05 11:002927b2675d 75 FILE *fp = fopen("/local/errorlog.txt", "w");
edy05 11:002927b2675d 76 fprintf(fp, message);
edy05 11:002927b2675d 77 fclose(fp);
edy05 11:002927b2675d 78
edy05 11:002927b2675d 79 }
edy05 11:002927b2675d 80
edy05 11:002927b2675d 81
edy05 9:86a5af9935b1 82 //Converts float to char array
edy05 9:86a5af9935b1 83 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 84 {
edy05 9:86a5af9935b1 85 sprintf(_str, "%4.2f", number );
edy05 9:86a5af9935b1 86 }
edy05 8:b5128641d4cf 87
edy05 8:b5128641d4cf 88
edy05 2:d172c9963f87 89 #endif