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

Committer:
edy05
Date:
Sun Feb 25 18:32:13 2018 +0000
Branch:
DistanceRegulation
Revision:
34:5dca557e982f
Parent:
32:c729e6da7f9a
Child:
35:b09e19c855f6
server - fixed sendpage - I hope

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 34:5dca557e982f 21 uint32_t _frontDistance;
edy05 26:11539036f0fb 22 PpmRegen* _ppmRegen;
edy05 11:002927b2675d 23
edy05 11:002927b2675d 24 ConfigFile _configFile;
edy05 11:002927b2675d 25 LocalFileSystem local("local");
edy05 2:d172c9963f87 26
edy05 34:5dca557e982f 27 Thread _serverThread;
edy05 34:5dca557e982f 28 Thread _frontSensorThread;
edy05 27:5956d5e3ff63 29 Thread *_distanceThread;
edy05 27:5956d5e3ff63 30
edy05 2:d172c9963f87 31
edy05 2:d172c9963f87 32 InterruptIn* _interruptPort = new InterruptIn(p28);
edy05 2:d172c9963f87 33 PwmOut* _roll = new PwmOut(p21);
edy05 2:d172c9963f87 34 PwmOut* _pitch = new PwmOut(p22);
edy05 2:d172c9963f87 35 PwmOut* _throttle = new PwmOut(p23);
edy05 2:d172c9963f87 36 PwmOut* _yaw = new PwmOut(p24);
edy05 2:d172c9963f87 37 PwmOut* _aux1 = new PwmOut(p25);
edy05 2:d172c9963f87 38 PwmOut* _aux2 = new PwmOut(p26);
edy05 2:d172c9963f87 39
edy05 2:d172c9963f87 40
edy05 9:86a5af9935b1 41 char* _str = new char[1024];
edy05 15:9cdf757269fb 42 char* _serverMessage = new char[1024];
edy05 17:1896d242945b 43 bool _configChanges = false;
edy05 31:5f1737e480f3 44 bool _onlyDistanChanged = false;
edy05 15:9cdf757269fb 45 // zero is default value
edy05 9:86a5af9935b1 46 float _P = 0;
edy05 9:86a5af9935b1 47 float _I = 0;
edy05 9:86a5af9935b1 48 float _D = 0;
edy05 14:076ef843e1ba 49 int _groundSetPoint = 0;
edy05 25:69190c222dbf 50 int _bias = 0;
edy05 25:69190c222dbf 51 int _groundPidMinOutput = 0;
edy05 25:69190c222dbf 52 int _groundPidMaxOutput = 0;
edy05 21:0afb91824792 53 bool _groundRegulation = false;
edy05 31:5f1737e480f3 54 // Temporary values for Server to filter noise
edy05 32:c729e6da7f9a 55 float _newP;
edy05 32:c729e6da7f9a 56 float _newI;
edy05 32:c729e6da7f9a 57 float _newD;
edy05 31:5f1737e480f3 58 bool _tempGroundRegulation = false;
edy05 31:5f1737e480f3 59
edy05 8:b5128641d4cf 60
edy05 11:002927b2675d 61
edy05 11:002927b2675d 62
edy05 11:002927b2675d 63
edy05 10:bb9c778f8e3e 64
edy05 9:86a5af9935b1 65 void loadConfigFile(void){
edy05 9:86a5af9935b1 66 //reading configFile
edy05 9:86a5af9935b1 67 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 68 char value[BUFSIZ];
edy05 25:69190c222dbf 69 if (_configFile.getValue("bias", &value[0], sizeof(value)))
edy05 25:69190c222dbf 70 _bias = atof(value);
edy05 25:69190c222dbf 71 if (_configFile.getValue("groundPidMinOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 72 _groundPidMinOutput = atof(value);
edy05 25:69190c222dbf 73 if (_configFile.getValue("groundPidMaxOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 74 _groundPidMaxOutput = atof(value);
edy05 9:86a5af9935b1 75 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 76 _P = atof(value);
edy05 9:86a5af9935b1 77 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 78 _I = atof(value);
edy05 9:86a5af9935b1 79 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 80 _D = atof(value);
edy05 14:076ef843e1ba 81 if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
edy05 14:076ef843e1ba 82 _groundSetPoint = atof(value);
edy05 9:86a5af9935b1 83
edy05 9:86a5af9935b1 84 }
edy05 9:86a5af9935b1 85
edy05 11:002927b2675d 86 void writeSettingsToConfig(void){
edy05 25:69190c222dbf 87 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 88 if(!_configFile.setValue("bias", _str))
edy05 25:69190c222dbf 89 strcat(_serverMessage, "bias value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 90 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 91 if(!_configFile.setValue("groundPidMinOutput", _str))
edy05 25:69190c222dbf 92 strcat(_serverMessage, "groundPidMinOutput value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 93 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 94 if(!_configFile.setValue("groundPidMaxOutput", _str))
edy05 25:69190c222dbf 95 strcat(_serverMessage, "groundPidMaxOutput value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 96 ConvertToCharArray(_P);
edy05 15:9cdf757269fb 97 if(!_configFile.setValue("P", _str))
edy05 15:9cdf757269fb 98 strcat(_serverMessage, "P value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 99 ConvertToCharArray(_I);
edy05 15:9cdf757269fb 100 if(!_configFile.setValue("I", _str))
edy05 15:9cdf757269fb 101 strcat(_serverMessage, "I value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 102 ConvertToCharArray(_D);
edy05 15:9cdf757269fb 103 if(!_configFile.setValue("D", _str))
edy05 15:9cdf757269fb 104 strcat(_serverMessage, "D value could not be saved to configFile\n\r");
edy05 14:076ef843e1ba 105 ConvertToCharArray(_groundSetPoint);
edy05 15:9cdf757269fb 106 if(!_configFile.setValue("groundSetPoint", _str)){
edy05 15:9cdf757269fb 107 strcat(_serverMessage, "groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 108 pc.printf("groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 109 }
edy05 10:bb9c778f8e3e 110 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 111
edy05 10:bb9c778f8e3e 112 }
edy05 10:bb9c778f8e3e 113
edy05 11:002927b2675d 114
edy05 11:002927b2675d 115 void writeErrorLog(char *message){
edy05 11:002927b2675d 116 FILE *fp = fopen("/local/errorlog.txt", "w");
edy05 11:002927b2675d 117 fprintf(fp, message);
edy05 11:002927b2675d 118 fclose(fp);
edy05 11:002927b2675d 119
edy05 11:002927b2675d 120 }
edy05 11:002927b2675d 121
edy05 11:002927b2675d 122
edy05 9:86a5af9935b1 123 //Converts float to char array
edy05 9:86a5af9935b1 124 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 125 {
edy05 25:69190c222dbf 126 sprintf(_str, "%3.6f", number );
edy05 9:86a5af9935b1 127 }
edy05 8:b5128641d4cf 128
edy05 14:076ef843e1ba 129 //Converts integer to char array
edy05 14:076ef843e1ba 130 void ConvertToCharArray(int number)
edy05 14:076ef843e1ba 131 {
edy05 14:076ef843e1ba 132 sprintf(_str, "%d", number );
edy05 14:076ef843e1ba 133 }
edy05 14:076ef843e1ba 134
edy05 8:b5128641d4cf 135
edy05 2:d172c9963f87 136 #endif