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@31:5f1737e480f3, 2018-02-04 (annotated)

Committer:
edy05
Date:
Sun Feb 04 15:21:12 2018 +0000
Branch:
DistanceRegulation
Revision:
31:5f1737e480f3
Parent:
27:5956d5e3ff63
Child:
32:c729e6da7f9a
Better Server respond to ground regulation

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 31:5f1737e480f3 42 bool _onlyDistanChanged = false;
edy05 15:9cdf757269fb 43 // zero is default value
edy05 9:86a5af9935b1 44 float _P = 0;
edy05 9:86a5af9935b1 45 float _I = 0;
edy05 9:86a5af9935b1 46 float _D = 0;
edy05 14:076ef843e1ba 47 int _groundSetPoint = 0;
edy05 25:69190c222dbf 48 int _bias = 0;
edy05 25:69190c222dbf 49 int _groundPidMinOutput = 0;
edy05 25:69190c222dbf 50 int _groundPidMaxOutput = 0;
edy05 21:0afb91824792 51 bool _groundRegulation = false;
edy05 31:5f1737e480f3 52 // Temporary values for Server to filter noise
edy05 31:5f1737e480f3 53 float _tempP;
edy05 31:5f1737e480f3 54 float _tempI;
edy05 31:5f1737e480f3 55 float _tempD;
edy05 31:5f1737e480f3 56 bool _tempGroundRegulation = false;
edy05 31:5f1737e480f3 57
edy05 8:b5128641d4cf 58
edy05 11:002927b2675d 59
edy05 11:002927b2675d 60
edy05 11:002927b2675d 61
edy05 10:bb9c778f8e3e 62
edy05 9:86a5af9935b1 63 void loadConfigFile(void){
edy05 9:86a5af9935b1 64 //reading configFile
edy05 9:86a5af9935b1 65 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 66 char value[BUFSIZ];
edy05 25:69190c222dbf 67 if (_configFile.getValue("bias", &value[0], sizeof(value)))
edy05 25:69190c222dbf 68 _bias = atof(value);
edy05 25:69190c222dbf 69 if (_configFile.getValue("groundPidMinOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 70 _groundPidMinOutput = atof(value);
edy05 25:69190c222dbf 71 if (_configFile.getValue("groundPidMaxOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 72 _groundPidMaxOutput = atof(value);
edy05 9:86a5af9935b1 73 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 74 _P = atof(value);
edy05 9:86a5af9935b1 75 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 76 _I = atof(value);
edy05 9:86a5af9935b1 77 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 78 _D = atof(value);
edy05 14:076ef843e1ba 79 if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
edy05 14:076ef843e1ba 80 _groundSetPoint = atof(value);
edy05 9:86a5af9935b1 81
edy05 9:86a5af9935b1 82 }
edy05 9:86a5af9935b1 83
edy05 11:002927b2675d 84 void writeSettingsToConfig(void){
edy05 25:69190c222dbf 85 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 86 if(!_configFile.setValue("bias", _str))
edy05 25:69190c222dbf 87 strcat(_serverMessage, "bias value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 88 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 89 if(!_configFile.setValue("groundPidMinOutput", _str))
edy05 25:69190c222dbf 90 strcat(_serverMessage, "groundPidMinOutput value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 91 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 92 if(!_configFile.setValue("groundPidMaxOutput", _str))
edy05 25:69190c222dbf 93 strcat(_serverMessage, "groundPidMaxOutput value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 94 ConvertToCharArray(_P);
edy05 15:9cdf757269fb 95 if(!_configFile.setValue("P", _str))
edy05 15:9cdf757269fb 96 strcat(_serverMessage, "P value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 97 ConvertToCharArray(_I);
edy05 15:9cdf757269fb 98 if(!_configFile.setValue("I", _str))
edy05 15:9cdf757269fb 99 strcat(_serverMessage, "I value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 100 ConvertToCharArray(_D);
edy05 15:9cdf757269fb 101 if(!_configFile.setValue("D", _str))
edy05 15:9cdf757269fb 102 strcat(_serverMessage, "D value could not be saved to configFile\n\r");
edy05 14:076ef843e1ba 103 ConvertToCharArray(_groundSetPoint);
edy05 15:9cdf757269fb 104 if(!_configFile.setValue("groundSetPoint", _str)){
edy05 15:9cdf757269fb 105 strcat(_serverMessage, "groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 106 pc.printf("groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 107 }
edy05 10:bb9c778f8e3e 108
edy05 10:bb9c778f8e3e 109 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 110
edy05 31:5f1737e480f3 111 //_configChanges = true;
edy05 13:33024b5880b3 112
edy05 10:bb9c778f8e3e 113 }
edy05 10:bb9c778f8e3e 114
edy05 11:002927b2675d 115
edy05 11:002927b2675d 116 void writeErrorLog(char *message){
edy05 11:002927b2675d 117 FILE *fp = fopen("/local/errorlog.txt", "w");
edy05 11:002927b2675d 118 fprintf(fp, message);
edy05 11:002927b2675d 119 fclose(fp);
edy05 11:002927b2675d 120
edy05 11:002927b2675d 121 }
edy05 11:002927b2675d 122
edy05 11:002927b2675d 123
edy05 9:86a5af9935b1 124 //Converts float to char array
edy05 9:86a5af9935b1 125 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 126 {
edy05 25:69190c222dbf 127 sprintf(_str, "%3.6f", number );
edy05 9:86a5af9935b1 128 }
edy05 8:b5128641d4cf 129
edy05 14:076ef843e1ba 130 //Converts integer to char array
edy05 14:076ef843e1ba 131 void ConvertToCharArray(int number)
edy05 14:076ef843e1ba 132 {
edy05 14:076ef843e1ba 133 sprintf(_str, "%d", number );
edy05 14:076ef843e1ba 134 }
edy05 14:076ef843e1ba 135
edy05 8:b5128641d4cf 136
edy05 2:d172c9963f87 137 #endif