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@34:5dca557e982f, 2018-02-25 (annotated)

Committer:
edy05
Date:
Sun Feb 25 18:32:13 2018 +0000
Branch:
DistanceRegulation
Revision:
34:5dca557e982f
Parent:
33:a2f9fea05cb9
Child:
37:76bfd4e9c383
server - fixed sendpage - I hope

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 29:c35bcfe62c77 6 RawSerial esp(p13, p14); // tx, rx
edy05 32:c729e6da7f9a 7 DigitalOut reset(p11);
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 34:5dca557e982f 19 char webdata[2048]; // This may need to be bigger depending on WEB browser used
edy05 34:5dca557e982f 20 char webbuff[8192]; // 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 2:d172c9963f87 26
edy05 2:d172c9963f87 27 void getreply(); void SendCMD();
edy05 2:d172c9963f87 28 void startserver();
edy05 2:d172c9963f87 29 void ReadWebData();
edy05 2:d172c9963f87 30 void sendpage();
edy05 2:d172c9963f87 31 void sendcheck();
edy05 2:d172c9963f87 32 void get_ip_address(char web_data[1024]);
edy05 2:d172c9963f87 33 void SendWEB();
edy05 2:d172c9963f87 34
edy05 2:d172c9963f87 35 void serverRun();
edy05 2:d172c9963f87 36 void serverMain();
edy05 2:d172c9963f87 37 void serverLoop();
edy05 2:d172c9963f87 38 void callback();
edy05 2:d172c9963f87 39
edy05 33:a2f9fea05cb9 40 int port = 80; // set server port
edy05 33:a2f9fea05cb9 41 int SERVtimeout = 8; // set server timeout in seconds in case link breaks.
edy05 2:d172c9963f87 42
edy05 9:86a5af9935b1 43
edy05 2:d172c9963f87 44
edy05 2:d172c9963f87 45 //serverThread.start(serverRun);
edy05 2:d172c9963f87 46
edy05 2:d172c9963f87 47 void callback(){
edy05 34:5dca557e982f 48 ////pc.printf("callback!!!!!!!!!!!!!!!!_________________________\n\r");
edy05 2:d172c9963f87 49 led3 = 1;
edy05 2:d172c9963f87 50 while (esp.readable()) {
edy05 2:d172c9963f87 51 webbuff[count] = esp.getc();
edy05 2:d172c9963f87 52 count++;
edy05 2:d172c9963f87 53 }
edy05 2:d172c9963f87 54 if(strlen(webbuff)>bufflen) {
edy05 2:d172c9963f87 55 DataRX=1;
edy05 2:d172c9963f87 56 led3=0;
edy05 2:d172c9963f87 57 }
edy05 2:d172c9963f87 58 }
edy05 2:d172c9963f87 59
edy05 2:d172c9963f87 60
edy05 2:d172c9963f87 61 void serverRun(){
edy05 2:d172c9963f87 62 reset=0;
edy05 25:69190c222dbf 63
edy05 34:5dca557e982f 64 //pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
edy05 27:5956d5e3ff63 65 //wait(0.5);
edy05 2:d172c9963f87 66 reset=1;
edy05 2:d172c9963f87 67 timeout=6000;
edy05 2:d172c9963f87 68 getcount=500;
edy05 2:d172c9963f87 69 getreply();
edy05 2:d172c9963f87 70 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
edy05 2:d172c9963f87 71 startserver();
edy05 26:11539036f0fb 72 webcounter = 0;
edy05 31:5f1737e480f3 73 Timer timer;
edy05 34:5dca557e982f 74 bool pageWasSent = false;
edy05 2:d172c9963f87 75 while(1){
edy05 2:d172c9963f87 76 if(DataRX==1) {
edy05 31:5f1737e480f3 77 timer.reset();
edy05 31:5f1737e480f3 78 timer.start();
edy05 2:d172c9963f87 79 ReadWebData();
edy05 11:002927b2675d 80 // Save data to configFile
edy05 31:5f1737e480f3 81 //writeSettingsToConfig();
edy05 34:5dca557e982f 82 if ((servreq == 1 && weberror == 0) && pageWasSent == false) {
edy05 34:5dca557e982f 83 //////pc.printf("Send page \n\r");
edy05 10:bb9c778f8e3e 84 // send HTTP Response
edy05 2:d172c9963f87 85 sendpage();
edy05 34:5dca557e982f 86 pageWasSent = true;
edy05 31:5f1737e480f3 87
edy05 2:d172c9963f87 88 }
edy05 32:c729e6da7f9a 89 else{
edy05 34:5dca557e982f 90 ////pc.printf("Page was not sent \n\r");
edy05 32:c729e6da7f9a 91 }
edy05 2:d172c9963f87 92 esp.attach(&callback);
edy05 34:5dca557e982f 93 ////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 34:5dca557e982f 94 ////pc.printf("HTTP Packet: \n\n%s", webdata);
edy05 34:5dca557e982f 95 ////pc.printf("Web Characters sent : %d\n\n", bufl);
edy05 34:5dca557e982f 96 ////pc.printf("-------------------------------------\n\n");
edy05 2:d172c9963f87 97 servreq=0;
edy05 15:9cdf757269fb 98 memset(_serverMessage, '\0', sizeof(_serverMessage));
edy05 2:d172c9963f87 99 }
edy05 34:5dca557e982f 100 if(timer.read_ms() > 3000){
edy05 34:5dca557e982f 101 pageWasSent = false;
edy05 34:5dca557e982f 102 ////pc.printf("starting reading new configuration in server task\n\r");
edy05 31:5f1737e480f3 103 // when stop sending answers
edy05 31:5f1737e480f3 104 timer.stop();
edy05 31:5f1737e480f3 105 timer.reset();
edy05 32:c729e6da7f9a 106 if(_newP == _P && _newI == _I && _newD == _D){
edy05 31:5f1737e480f3 107 _onlyDistanChanged = true;
edy05 31:5f1737e480f3 108 }
edy05 32:c729e6da7f9a 109 _P = _newP;
edy05 32:c729e6da7f9a 110 _I = _newI;
edy05 32:c729e6da7f9a 111 _D = _newD;
edy05 31:5f1737e480f3 112 // Save data to configFile
edy05 31:5f1737e480f3 113 writeSettingsToConfig();
edy05 31:5f1737e480f3 114 // notification that config of pid was changed
edy05 31:5f1737e480f3 115 _configChanges = true;
edy05 31:5f1737e480f3 116 // start or stop ground regulation
edy05 31:5f1737e480f3 117 //_groundRegulation = _tempGroundRegulation;
edy05 31:5f1737e480f3 118 if(_groundRegulation != _tempGroundRegulation){
edy05 31:5f1737e480f3 119 _groundRegulation = _tempGroundRegulation;
edy05 31:5f1737e480f3 120 _groundDistance->resetError();
edy05 31:5f1737e480f3 121 }
edy05 31:5f1737e480f3 122
edy05 31:5f1737e480f3 123 }
edy05 31:5f1737e480f3 124
edy05 34:5dca557e982f 125 Thread::wait(100);
edy05 2:d172c9963f87 126 }
edy05 2:d172c9963f87 127 }
edy05 2:d172c9963f87 128
edy05 2:d172c9963f87 129
edy05 2:d172c9963f87 130 // Static WEB page
edy05 2:d172c9963f87 131 void sendpage(){
edy05 2:d172c9963f87 132 strcpy(webbuff, "<!DOCTYPE html>");
edy05 2:d172c9963f87 133 strcat(webbuff, "<html><head><title>ESP8266 Mbed LPC1768</title></head>");
edy05 2:d172c9963f87 134 strcat(webbuff, "<body>");
edy05 34:5dca557e982f 135 //strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web PID Controller</h1>");
edy05 34:5dca557e982f 136 //strcat(webbuff, "Hit Count - ");
edy05 34:5dca557e982f 137 //strcat(webbuff, webcount);
edy05 34:5dca557e982f 138 //strcat(webbuff, "</div><br /><hr>");
edy05 15:9cdf757269fb 139 //server message (mostly errors)
edy05 34:5dca557e982f 140 //strcat(webbuff, "<div stye=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h3>Server messages</h3>");
edy05 34:5dca557e982f 141 //strcat(webbuff, _serverMessage);
edy05 34:5dca557e982f 142 //strcat(webbuff, "</div><br><hr>");
edy05 34:5dca557e982f 143 strcat(webbuff, "<form method=\"POST\">");
edy05 34:5dca557e982f 144 //if(led1==0) {
edy05 34:5dca557e982f 145 // strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked> LED 1 off");
edy05 34:5dca557e982f 146 // strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" > LED 1 on<br>");
edy05 34:5dca557e982f 147 //} else {
edy05 34:5dca557e982f 148 // strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" > LED 1 off");
edy05 34:5dca557e982f 149 // strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked> LED 1 on<br>");
edy05 34:5dca557e982f 150 //}
edy05 21:0afb91824792 151 // ground regulation
edy05 31:5f1737e480f3 152 if(_tempGroundRegulation) {
edy05 21:0afb91824792 153 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" checked> Ground regulation ON");
edy05 21:0afb91824792 154 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" > Ground regulation OFF<br>");
edy05 21:0afb91824792 155 } else {
edy05 21:0afb91824792 156 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" > Ground regulation ON");
edy05 25:69190c222dbf 157 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" checked> Ground regulation OFF<br>");
edy05 21:0afb91824792 158 }
edy05 25:69190c222dbf 159 // pid ground min output
edy05 25:69190c222dbf 160 strcat(webbuff, "pid min Output: <input type=\"text\" name=\"groundPidMinOutput\" size=6 value=\"");
edy05 25:69190c222dbf 161 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 162 strcat(webbuff, _str);
edy05 25:69190c222dbf 163 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 164 //pid ground max output
edy05 25:69190c222dbf 165 strcat(webbuff, "pid max Output: <input type=\"text\" name=\"groundPidMaxOutput\" size=6 value=\"");
edy05 25:69190c222dbf 166 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 167 strcat(webbuff, _str);
edy05 25:69190c222dbf 168 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 169 //ground regulation bias
edy05 25:69190c222dbf 170 strcat(webbuff, "Bias: <input type=\"text\" name=\"bias\" size=6 value=\"");
edy05 25:69190c222dbf 171 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 172 strcat(webbuff, _str);
edy05 25:69190c222dbf 173 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 174 strcat(webbuff, "P: <input type=\"text\" name=\"proportional\" size=6 value=\"");
edy05 32:c729e6da7f9a 175 ConvertToCharArray(_newP);
edy05 9:86a5af9935b1 176 strcat(webbuff, _str);
edy05 2:d172c9963f87 177 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 178 strcat(webbuff, "I: <input type=\"text\" name=\"integral\" size=6 value=\"");
edy05 32:c729e6da7f9a 179 ConvertToCharArray(_newI);
edy05 9:86a5af9935b1 180 strcat(webbuff, _str);
edy05 2:d172c9963f87 181 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 182 strcat(webbuff, "D: <input type=\"text\" name=\"derivative\" size=6 value=\"");
edy05 32:c729e6da7f9a 183 ConvertToCharArray(_newD);
edy05 9:86a5af9935b1 184 strcat(webbuff, _str);
edy05 2:d172c9963f87 185 strcat(webbuff, "\"><br>");
edy05 14:076ef843e1ba 186 //Ground set Point
edy05 14:076ef843e1ba 187 strcat(webbuff, "Ground setPoint: <input type=\"text\" name=\"groundSetPoint\" size=6 value=\"");
edy05 14:076ef843e1ba 188 ConvertToCharArray(_groundSetPoint);
edy05 14:076ef843e1ba 189 strcat(webbuff, _str);
edy05 14:076ef843e1ba 190 strcat(webbuff, "\"><br>");
edy05 34:5dca557e982f 191 strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" checked></p>");
edy05 34:5dca557e982f 192 strcat(webbuff, "<p><input type=\"submit\"></p>");
edy05 34:5dca557e982f 193 strcat(webbuff, "</form>");
edy05 2:d172c9963f87 194 strcat(webbuff, "</body></html>");
edy05 2:d172c9963f87 195 // end of WEB page data
edy05 2:d172c9963f87 196 bufl = strlen(webbuff); // get total page buffer length
edy05 2:d172c9963f87 197 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
edy05 34:5dca557e982f 198 pc.printf("%s \n\r", cmdbuff);
edy05 2:d172c9963f87 199 timeout=200;
edy05 2:d172c9963f87 200 getcount=7;
edy05 2:d172c9963f87 201 SendCMD();
edy05 34:5dca557e982f 202 Thread::wait(1000);
edy05 2:d172c9963f87 203 getreply();
edy05 34:5dca557e982f 204 pc.printf("%s \n\r", replybuff);
edy05 2:d172c9963f87 205 SendWEB(); // send web page
edy05 2:d172c9963f87 206 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 207 sendcheck();
edy05 2:d172c9963f87 208
edy05 2:d172c9963f87 209 }
edy05 2:d172c9963f87 210
edy05 2:d172c9963f87 211 void sendcheck(){
edy05 2:d172c9963f87 212 weberror=1;
edy05 33:a2f9fea05cb9 213 timeout= 1000;
edy05 33:a2f9fea05cb9 214 getcount = 50;
edy05 2:d172c9963f87 215 t2.reset();
edy05 2:d172c9963f87 216 t2.start();
edy05 2:d172c9963f87 217 while(weberror==1 && t2.read() <5) {
edy05 2:d172c9963f87 218 getreply();
edy05 2:d172c9963f87 219 if (strstr(replybuff, "SEND OK") != NULL) {
edy05 2:d172c9963f87 220 weberror=0; // wait for valid SEND OK
edy05 2:d172c9963f87 221 }
edy05 2:d172c9963f87 222 }
edy05 2:d172c9963f87 223 if(weberror==1) { // restart connection
edy05 34:5dca557e982f 224 //pc.printf("sendcheck - restarting connection \n\r");
edy05 2:d172c9963f87 225 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
edy05 2:d172c9963f87 226 timeout=500;
edy05 2:d172c9963f87 227 getcount=10;
edy05 2:d172c9963f87 228 SendCMD();
edy05 2:d172c9963f87 229 getreply();
edy05 34:5dca557e982f 230 //pc.printf(replybuff);
edy05 33:a2f9fea05cb9 231 sprintf(cmdbuff,"AT+CIPSERVER=0,%d\r\n", port);
edy05 33:a2f9fea05cb9 232 timeout=500;
edy05 33:a2f9fea05cb9 233 getcount=10;
edy05 33:a2f9fea05cb9 234 SendCMD();
edy05 33:a2f9fea05cb9 235 getreply();
edy05 34:5dca557e982f 236 //pc.printf(replybuff);
edy05 2:d172c9963f87 237 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 238 timeout=500;
edy05 2:d172c9963f87 239 getcount=10;
edy05 2:d172c9963f87 240 SendCMD();
edy05 2:d172c9963f87 241 getreply();
edy05 34:5dca557e982f 242 //pc.printf(replybuff);
edy05 2:d172c9963f87 243 } else {
edy05 34:5dca557e982f 244 //pc.printf("sendcheck ok \n\r");
edy05 2:d172c9963f87 245 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
edy05 2:d172c9963f87 246 SendCMD();
edy05 2:d172c9963f87 247 getreply();
edy05 34:5dca557e982f 248 //pc.printf(replybuff);
edy05 2:d172c9963f87 249 }
edy05 2:d172c9963f87 250 t2.reset();
edy05 2:d172c9963f87 251 }
edy05 2:d172c9963f87 252
edy05 2:d172c9963f87 253 // Large WEB buffer data send
edy05 2:d172c9963f87 254 void SendWEB()
edy05 2:d172c9963f87 255 {
edy05 2:d172c9963f87 256 int i=0;
edy05 2:d172c9963f87 257 if(esp.writeable()) {
edy05 2:d172c9963f87 258 while(webbuff[i]!='\0') {
edy05 2:d172c9963f87 259 esp.putc(webbuff[i]);
edy05 2:d172c9963f87 260 i++;
edy05 2:d172c9963f87 261 }
edy05 2:d172c9963f87 262 }
edy05 2:d172c9963f87 263 }
edy05 2:d172c9963f87 264
edy05 2:d172c9963f87 265 // Reads and processes GET and POST web data
edy05 2:d172c9963f87 266 void ReadWebData(){
edy05 2:d172c9963f87 267 wait_ms(200);
edy05 2:d172c9963f87 268 esp.attach(NULL);
edy05 2:d172c9963f87 269 count=0;
edy05 2:d172c9963f87 270 DataRX=0;
edy05 2:d172c9963f87 271 weberror=0;
edy05 2:d172c9963f87 272 memset(webdata, '\0', sizeof(webdata));
edy05 2:d172c9963f87 273 int x = strcspn (webbuff,"+");
edy05 2:d172c9963f87 274 if(x) {
edy05 2:d172c9963f87 275 strcpy(webdata, webbuff + x);
edy05 34:5dca557e982f 276 //////pc.printf("webdata received: %s", webdata);
edy05 2:d172c9963f87 277 weberror=0;
edy05 2:d172c9963f87 278 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
edy05 2:d172c9963f87 279 if (strstr(webdata, "led1=1") != NULL ) {
edy05 2:d172c9963f87 280 led1=1;
edy05 2:d172c9963f87 281 }
edy05 2:d172c9963f87 282 if (strstr(webdata, "led1=0") != NULL ) {
edy05 2:d172c9963f87 283 led1=0;
edy05 2:d172c9963f87 284 }
edy05 21:0afb91824792 285 //ground regulation
edy05 21:0afb91824792 286 if (strstr(webdata, "groundRegulation=1") != NULL )
edy05 31:5f1737e480f3 287 _tempGroundRegulation = true;
edy05 21:0afb91824792 288 if (strstr(webdata, "groundRegulation=0") != NULL )
edy05 31:5f1737e480f3 289 _tempGroundRegulation = false;
edy05 25:69190c222dbf 290 // pid min Output
edy05 25:69190c222dbf 291 if (strstr(webdata, "groundPidMinOutput") != NULL ){
edy05 34:5dca557e982f 292 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 293 char* p_webdata = strstr(webdata, "groundPidMinOutput");
edy05 25:69190c222dbf 294 p_webdata = p_webdata + strlen("groundPidMinOutput") + 1;
edy05 25:69190c222dbf 295 int i = 0;
edy05 25:69190c222dbf 296 while(*p_webdata != '&'){
edy05 34:5dca557e982f 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 34:5dca557e982f 302 ////pc.printf("\n\r");
edy05 25:69190c222dbf 303 _str[i] = '\0';
edy05 34:5dca557e982f 304 //////pc.printf("groundPidMinOutput: %s", _str);
edy05 25:69190c222dbf 305 _groundPidMinOutput = atof(_str);
edy05 34:5dca557e982f 306 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 307 }
edy05 25:69190c222dbf 308 //pid max output
edy05 25:69190c222dbf 309 if (strstr(webdata, "groundPidMaxOutput") != NULL ){
edy05 34:5dca557e982f 310 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 311 char* p_webdata = strstr(webdata, "groundPidMaxOutput");
edy05 25:69190c222dbf 312 p_webdata = p_webdata + strlen("groundPidMaxOutput") + 1;
edy05 25:69190c222dbf 313 int i = 0;
edy05 25:69190c222dbf 314 while(*p_webdata != '&'){
edy05 34:5dca557e982f 315 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 316 _str[i] = *p_webdata;
edy05 25:69190c222dbf 317 p_webdata += 1;
edy05 25:69190c222dbf 318 i++;
edy05 25:69190c222dbf 319 }
edy05 34:5dca557e982f 320 //////pc.printf("\n\r");
edy05 25:69190c222dbf 321 _str[i] = '\0';
edy05 34:5dca557e982f 322 //////pc.printf("groundPidMaxOutput: %s", _str);
edy05 25:69190c222dbf 323 _groundPidMaxOutput = atof(_str);
edy05 34:5dca557e982f 324 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 325 }
edy05 25:69190c222dbf 326 //bias
edy05 25:69190c222dbf 327 if (strstr(webdata, "bias") != NULL ){
edy05 34:5dca557e982f 328 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 329 char* p_webdata = strstr(webdata, "bias");
edy05 25:69190c222dbf 330 p_webdata = p_webdata + strlen("bias") + 1;
edy05 25:69190c222dbf 331 int i = 0;
edy05 25:69190c222dbf 332 while(*p_webdata != '&'){
edy05 34:5dca557e982f 333 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 334 _str[i] = *p_webdata;
edy05 25:69190c222dbf 335 p_webdata += 1;
edy05 25:69190c222dbf 336 i++;
edy05 25:69190c222dbf 337 }
edy05 34:5dca557e982f 338 //////pc.printf("\n\r");
edy05 25:69190c222dbf 339 _str[i] = '\0';
edy05 34:5dca557e982f 340 //////pc.printf("bias: %s", _str);
edy05 25:69190c222dbf 341 _bias = atof(_str);
edy05 34:5dca557e982f 342 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 343 }
edy05 21:0afb91824792 344 // PID values
edy05 2:d172c9963f87 345 if (strstr(webdata, "proportional") != NULL ){
edy05 34:5dca557e982f 346 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 347 char* p_webdata = strstr(webdata, "proportional");
edy05 2:d172c9963f87 348 p_webdata = p_webdata + strlen("proportional") + 1;
edy05 2:d172c9963f87 349 int i = 0;
edy05 2:d172c9963f87 350 while(*p_webdata != '&'){
edy05 34:5dca557e982f 351 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 352 _str[i] = *p_webdata;
edy05 2:d172c9963f87 353 p_webdata += 1;
edy05 2:d172c9963f87 354 i++;
edy05 2:d172c9963f87 355 }
edy05 34:5dca557e982f 356 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 357 _str[i] = '\0';
edy05 34:5dca557e982f 358 //////pc.printf("proportional: %s", _str);
edy05 32:c729e6da7f9a 359 _newP = atof(_str);
edy05 34:5dca557e982f 360 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 361 }
edy05 2:d172c9963f87 362 if (strstr(webdata, "integral") != NULL){
edy05 34:5dca557e982f 363 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 364 char* p_webdata = strstr(webdata, "integral");
edy05 2:d172c9963f87 365 p_webdata = p_webdata + strlen("integral") + 1;
edy05 2:d172c9963f87 366 int i = 0;
edy05 2:d172c9963f87 367 while(*p_webdata != '&'){
edy05 34:5dca557e982f 368 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 369 _str[i] = *p_webdata;
edy05 2:d172c9963f87 370 p_webdata += 1;
edy05 2:d172c9963f87 371 i++;
edy05 2:d172c9963f87 372 }
edy05 34:5dca557e982f 373 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 374 _str[i] = '\0';
edy05 34:5dca557e982f 375 //////pc.printf("integral: %s", _str);
edy05 32:c729e6da7f9a 376 _newI = atof(_str);
edy05 34:5dca557e982f 377 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 378
edy05 2:d172c9963f87 379 }
edy05 2:d172c9963f87 380 if (strstr(webdata, "derivative") != NULL){
edy05 34:5dca557e982f 381 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 382 char* p_webdata = strstr(webdata, "derivative");
edy05 2:d172c9963f87 383 p_webdata = p_webdata + strlen("derivative") + 1;
edy05 2:d172c9963f87 384 int i = 0;
edy05 2:d172c9963f87 385 while(*p_webdata != '&'){
edy05 34:5dca557e982f 386 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 387 _str[i] = *p_webdata;
edy05 2:d172c9963f87 388 p_webdata += 1;
edy05 2:d172c9963f87 389 i++;
edy05 2:d172c9963f87 390 }
edy05 34:5dca557e982f 391 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 392 _str[i] = '\0';
edy05 34:5dca557e982f 393 //////pc.printf("derivative: %s", _str);
edy05 32:c729e6da7f9a 394 _newD = atof(_str);
edy05 34:5dca557e982f 395 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 396 }
edy05 14:076ef843e1ba 397 if (strstr(webdata, "groundSetPoint") != NULL){
edy05 34:5dca557e982f 398 //////pc.printf("\n\r looking for data \n\r");
edy05 14:076ef843e1ba 399 char* p_webdata = strstr(webdata, "groundSetPoint");
edy05 14:076ef843e1ba 400 p_webdata = p_webdata + strlen("groundSetPoint") + 1;
edy05 14:076ef843e1ba 401 int i = 0;
edy05 14:076ef843e1ba 402 while(*p_webdata != '&'){
edy05 34:5dca557e982f 403 ////pc.printf("%c", *p_webdata);
edy05 14:076ef843e1ba 404 _str[i] = *p_webdata;
edy05 14:076ef843e1ba 405 p_webdata += 1;
edy05 14:076ef843e1ba 406 i++;
edy05 14:076ef843e1ba 407 }
edy05 34:5dca557e982f 408 //////pc.printf("\n\r");
edy05 14:076ef843e1ba 409 _str[i] = '\0';
edy05 34:5dca557e982f 410 //////pc.printf("groundSetPoint: %s", _str);
edy05 14:076ef843e1ba 411 _groundSetPoint = atof(_str);
edy05 34:5dca557e982f 412 //////pc.printf("\n\r end of looking for data \n\r");
edy05 14:076ef843e1ba 413 }
edy05 2:d172c9963f87 414 sprintf(channel, "%d",linkID);
edy05 2:d172c9963f87 415 if (strstr(webdata, "GET") != NULL) {
edy05 2:d172c9963f87 416 servreq=1;
edy05 2:d172c9963f87 417 }
edy05 2:d172c9963f87 418 if (strstr(webdata, "POST") != NULL) {
edy05 2:d172c9963f87 419 servreq=1;
edy05 2:d172c9963f87 420 }
edy05 2:d172c9963f87 421 webcounter++;
edy05 2:d172c9963f87 422 sprintf(webcount, "%d",webcounter);
edy05 2:d172c9963f87 423 }else{
edy05 2:d172c9963f87 424 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 425 esp.attach(&callback);
edy05 2:d172c9963f87 426 weberror=1;
edy05 2:d172c9963f87 427 }
edy05 2:d172c9963f87 428
edy05 2:d172c9963f87 429 }
edy05 2:d172c9963f87 430
edy05 2:d172c9963f87 431 void startserver(){
edy05 34:5dca557e982f 432 //pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
edy05 2:d172c9963f87 433 strcpy(cmdbuff,"AT+RST\r\n");
edy05 2:d172c9963f87 434 timeout=8000;
edy05 2:d172c9963f87 435 getcount=1000;
edy05 2:d172c9963f87 436 SendCMD();
edy05 2:d172c9963f87 437 getreply();
edy05 34:5dca557e982f 438 //pc.printf(replybuff);
edy05 34:5dca557e982f 439 //pc.printf("%d",count);
edy05 2:d172c9963f87 440 if (strstr(replybuff, "OK") != NULL) {
edy05 34:5dca557e982f 441 //////pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
edy05 2:d172c9963f87 442 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
edy05 2:d172c9963f87 443 timeout=500;
edy05 2:d172c9963f87 444 getcount=20;
edy05 2:d172c9963f87 445 SendCMD();
edy05 2:d172c9963f87 446 getreply();
edy05 34:5dca557e982f 447 //pc.printf(replybuff);
edy05 2:d172c9963f87 448 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 449 timeout=500;
edy05 2:d172c9963f87 450 getcount=20;
edy05 2:d172c9963f87 451 SendCMD();
edy05 2:d172c9963f87 452 getreply();
edy05 34:5dca557e982f 453 //pc.printf(replybuff);
edy05 2:d172c9963f87 454 wait(1);
edy05 2:d172c9963f87 455 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
edy05 2:d172c9963f87 456 timeout=500;
edy05 2:d172c9963f87 457 getcount=50;
edy05 2:d172c9963f87 458 SendCMD();
edy05 2:d172c9963f87 459 getreply();
edy05 34:5dca557e982f 460 //pc.printf(replybuff);
edy05 2:d172c9963f87 461 wait(5);
edy05 34:5dca557e982f 462 //pc.printf("\n Getting Server IP \r\n");
edy05 2:d172c9963f87 463 strcpy(cmdbuff, "AT+CIFSR\r\n");
edy05 2:d172c9963f87 464 timeout=2500;
edy05 2:d172c9963f87 465 getcount=200;
edy05 2:d172c9963f87 466 while(weberror==0) {
edy05 2:d172c9963f87 467 SendCMD();
edy05 2:d172c9963f87 468 getreply();
edy05 2:d172c9963f87 469 if (strstr(replybuff, "0.0.0.0") == NULL) {
edy05 2:d172c9963f87 470 weberror=1; // wait for valid IP
edy05 2:d172c9963f87 471 }
edy05 2:d172c9963f87 472 }
edy05 34:5dca557e982f 473 //pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
edy05 34:5dca557e982f 474 //pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
edy05 2:d172c9963f87 475 replybuff[strlen(replybuff)-1] = '\0';
edy05 2:d172c9963f87 476 //char* IP = replybuff + 5;
edy05 2:d172c9963f87 477 sprintf(webdata,"%s", replybuff);
edy05 2:d172c9963f87 478 //SAVE IP ADDRESS
edy05 2:d172c9963f87 479 get_ip_address(webdata);
edy05 34:5dca557e982f 480 //pc.printf("ip_address: %s\n\r",ip_address);
edy05 34:5dca557e982f 481 //pc.printf(webdata);
edy05 34:5dca557e982f 482 //pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
edy05 2:d172c9963f87 483 esp.attach(&callback);
edy05 2:d172c9963f87 484 } else {
edy05 34:5dca557e982f 485 //pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
edy05 2:d172c9963f87 486 while(1) {}
edy05 2:d172c9963f87 487 }
edy05 2:d172c9963f87 488 t2.reset();
edy05 2:d172c9963f87 489 t2.start();
edy05 2:d172c9963f87 490 }
edy05 2:d172c9963f87 491
edy05 2:d172c9963f87 492 void SendCMD()
edy05 2:d172c9963f87 493 {
edy05 2:d172c9963f87 494 esp.printf("%s", cmdbuff);
edy05 2:d172c9963f87 495 }
edy05 2:d172c9963f87 496
edy05 2:d172c9963f87 497 void getreply()
edy05 2:d172c9963f87 498 {
edy05 2:d172c9963f87 499 memset(replybuff, '\0', sizeof(replybuff));
edy05 2:d172c9963f87 500 t1.reset();
edy05 2:d172c9963f87 501 t1.start();
edy05 2:d172c9963f87 502 replycount=0;
edy05 2:d172c9963f87 503 while(t1.read_ms()< timeout && replycount < getcount) {
edy05 2:d172c9963f87 504 if(esp.readable()) {
edy05 2:d172c9963f87 505 replybuff[replycount] = esp.getc();
edy05 2:d172c9963f87 506 replycount++;
edy05 2:d172c9963f87 507 }
edy05 2:d172c9963f87 508 }
edy05 2:d172c9963f87 509 t1.stop();
edy05 2:d172c9963f87 510 }
edy05 2:d172c9963f87 511
edy05 2:d172c9963f87 512 void get_ip_address(char web_data[1024]){
edy05 2:d172c9963f87 513 char pre_text[] = "+CIFSR:STAIP,\"";
edy05 2:d172c9963f87 514 char* p_text = strstr(webdata, pre_text);
edy05 2:d172c9963f87 515 p_text = p_text+strlen(pre_text);
edy05 2:d172c9963f87 516 char* p_text2 = strstr(p_text, "\"");
edy05 2:d172c9963f87 517 for(int i = 0;;i++){
edy05 2:d172c9963f87 518 if(*(p_text+i) == *p_text2){
edy05 2:d172c9963f87 519 ip_address[i] = '\0';
edy05 2:d172c9963f87 520 break;
edy05 2:d172c9963f87 521 }
edy05 2:d172c9963f87 522 ip_address[i] = *(p_text+i);
edy05 2:d172c9963f87 523
edy05 2:d172c9963f87 524 }
edy05 2:d172c9963f87 525 }