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@27:5956d5e3ff63, 2018-01-20 (annotated)

Committer:
edy05
Date:
Sat Jan 20 11:44:46 2018 +0000
Branch:
DistanceRegulation
Revision:
27:5956d5e3ff63
Parent:
26:11539036f0fb
Child:
30:4d1b3926a3cc
Child:
31:5f1737e480f3
Update performance;

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 27:5956d5e3ff63 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 27:5956d5e3ff63 27 Thread *_distanceThread;
edy05 27:5956d5e3ff63 28
edy05 2:d172c9963f87 29
edy05 2:d172c9963f87 30 InterruptIn* _interruptPort = new InterruptIn(p28);
edy05 2:d172c9963f87 31 PwmOut* _roll = new PwmOut(p21);
edy05 2:d172c9963f87 32 PwmOut* _pitch = new PwmOut(p22);
edy05 2:d172c9963f87 33 PwmOut* _throttle = new PwmOut(p23);
edy05 2:d172c9963f87 34 PwmOut* _yaw = new PwmOut(p24);
edy05 2:d172c9963f87 35 PwmOut* _aux1 = new PwmOut(p25);
edy05 2:d172c9963f87 36 PwmOut* _aux2 = new PwmOut(p26);
edy05 2:d172c9963f87 37
edy05 2:d172c9963f87 38
edy05 9:86a5af9935b1 39 char* _str = new char[1024];
edy05 15:9cdf757269fb 40 char* _serverMessage = new char[1024];
edy05 17:1896d242945b 41 bool _configChanges = false;
edy05 15:9cdf757269fb 42 // zero is default value
edy05 9:86a5af9935b1 43 float _P = 0;
edy05 9:86a5af9935b1 44 float _I = 0;
edy05 9:86a5af9935b1 45 float _D = 0;
edy05 14:076ef843e1ba 46 int _groundSetPoint = 0;
edy05 25:69190c222dbf 47 int _bias = 0;
edy05 25:69190c222dbf 48 int _groundPidMinOutput = 0;
edy05 25:69190c222dbf 49 int _groundPidMaxOutput = 0;
edy05 21:0afb91824792 50 bool _groundRegulation = false;
edy05 8:b5128641d4cf 51
edy05 11:002927b2675d 52
edy05 11:002927b2675d 53
edy05 11:002927b2675d 54
edy05 10:bb9c778f8e3e 55
edy05 9:86a5af9935b1 56 void loadConfigFile(void){
edy05 9:86a5af9935b1 57 //reading configFile
edy05 9:86a5af9935b1 58 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 59 char value[BUFSIZ];
edy05 25:69190c222dbf 60 if (_configFile.getValue("bias", &value[0], sizeof(value)))
edy05 25:69190c222dbf 61 _bias = atof(value);
edy05 25:69190c222dbf 62 if (_configFile.getValue("groundPidMinOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 63 _groundPidMinOutput = atof(value);
edy05 25:69190c222dbf 64 if (_configFile.getValue("groundPidMaxOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 65 _groundPidMaxOutput = atof(value);
edy05 9:86a5af9935b1 66 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 67 _P = atof(value);
edy05 9:86a5af9935b1 68 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 69 _I = atof(value);
edy05 9:86a5af9935b1 70 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 71 _D = atof(value);
edy05 14:076ef843e1ba 72 if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
edy05 14:076ef843e1ba 73 _groundSetPoint = atof(value);
edy05 9:86a5af9935b1 74
edy05 9:86a5af9935b1 75 }
edy05 9:86a5af9935b1 76
edy05 11:002927b2675d 77 void writeSettingsToConfig(void){
edy05 25:69190c222dbf 78 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 79 if(!_configFile.setValue("bias", _str))
edy05 25:69190c222dbf 80 strcat(_serverMessage, "bias value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 81 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 82 if(!_configFile.setValue("groundPidMinOutput", _str))
edy05 25:69190c222dbf 83 strcat(_serverMessage, "groundPidMinOutput value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 84 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 85 if(!_configFile.setValue("groundPidMaxOutput", _str))
edy05 25:69190c222dbf 86 strcat(_serverMessage, "groundPidMaxOutput value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 87 ConvertToCharArray(_P);
edy05 15:9cdf757269fb 88 if(!_configFile.setValue("P", _str))
edy05 15:9cdf757269fb 89 strcat(_serverMessage, "P value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 90 ConvertToCharArray(_I);
edy05 15:9cdf757269fb 91 if(!_configFile.setValue("I", _str))
edy05 15:9cdf757269fb 92 strcat(_serverMessage, "I value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 93 ConvertToCharArray(_D);
edy05 15:9cdf757269fb 94 if(!_configFile.setValue("D", _str))
edy05 15:9cdf757269fb 95 strcat(_serverMessage, "D value could not be saved to configFile\n\r");
edy05 14:076ef843e1ba 96 ConvertToCharArray(_groundSetPoint);
edy05 15:9cdf757269fb 97 if(!_configFile.setValue("groundSetPoint", _str)){
edy05 15:9cdf757269fb 98 strcat(_serverMessage, "groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 99 pc.printf("groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 100 }
edy05 10:bb9c778f8e3e 101
edy05 10:bb9c778f8e3e 102 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 103
edy05 17:1896d242945b 104 _configChanges = true;
edy05 13:33024b5880b3 105
edy05 10:bb9c778f8e3e 106 }
edy05 10:bb9c778f8e3e 107
edy05 11:002927b2675d 108
edy05 11:002927b2675d 109 void writeErrorLog(char *message){
edy05 11:002927b2675d 110 FILE *fp = fopen("/local/errorlog.txt", "w");
edy05 11:002927b2675d 111 fprintf(fp, message);
edy05 11:002927b2675d 112 fclose(fp);
edy05 11:002927b2675d 113
edy05 11:002927b2675d 114 }
edy05 11:002927b2675d 115
edy05 11:002927b2675d 116
edy05 9:86a5af9935b1 117 //Converts float to char array
edy05 9:86a5af9935b1 118 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 119 {
edy05 25:69190c222dbf 120 sprintf(_str, "%3.6f", number );
edy05 9:86a5af9935b1 121 }
edy05 8:b5128641d4cf 122
edy05 14:076ef843e1ba 123 //Converts integer to char array
edy05 14:076ef843e1ba 124 void ConvertToCharArray(int number)
edy05 14:076ef843e1ba 125 {
edy05 14:076ef843e1ba 126 sprintf(_str, "%d", number );
edy05 14:076ef843e1ba 127 }
edy05 14:076ef843e1ba 128
edy05 8:b5128641d4cf 129
edy05 2:d172c9963f87 130 #endif