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@41:5fe200d20022, 2018-05-22 (annotated)

Committer:
edy05
Date:
Tue May 22 19:43:09 2018 +0000
Branch:
DistanceRegulation
Revision:
41:5fe200d20022
Parent:
40:0aa1cefe80ab 
final updates

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 37:76bfd4e9c383 8 DigitalOut chd_dp(p10);
edy05 2:d172c9963f87 9
edy05 2:d172c9963f87 10 // Standard Mbed LED definitions
edy05 2:d172c9963f87 11 DigitalOut led1(LED1); // (PTB18)
edy05 2:d172c9963f87 12 DigitalOut led3(LED3); // (PTD1)
edy05 2:d172c9963f87 13
edy05 2:d172c9963f87 14 Timer t1;
edy05 2:d172c9963f87 15 Timer t2;
edy05 2:d172c9963f87 16
edy05 2:d172c9963f87 17 char cmdbuff[32];
edy05 2:d172c9963f87 18 char replybuff[1024];
edy05 2:d172c9963f87 19 char webcount[8];
edy05 34:5dca557e982f 20 char webdata[2048]; // This may need to be bigger depending on WEB browser used
edy05 34:5dca557e982f 21 char webbuff[8192]; // Currently using 1986 characters, Increase this if more web page data added
edy05 2:d172c9963f87 22 char type[16];
edy05 2:d172c9963f87 23 char channel[2];
edy05 2:d172c9963f87 24 char ip_address[20];
edy05 2:d172c9963f87 25 int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
edy05 2:d172c9963f87 26 int bufl, ipdLen, linkID, weberror, webcounter;
edy05 2:d172c9963f87 27
edy05 2:d172c9963f87 28 void getreply(); void SendCMD();
edy05 2:d172c9963f87 29 void startserver();
edy05 2:d172c9963f87 30 void ReadWebData();
edy05 2:d172c9963f87 31 void sendpage();
edy05 2:d172c9963f87 32 void sendcheck();
edy05 2:d172c9963f87 33 void get_ip_address(char web_data[1024]);
edy05 2:d172c9963f87 34 void SendWEB();
edy05 2:d172c9963f87 35
edy05 2:d172c9963f87 36 void serverRun();
edy05 2:d172c9963f87 37 void serverMain();
edy05 2:d172c9963f87 38 void serverLoop();
edy05 2:d172c9963f87 39 void callback();
edy05 2:d172c9963f87 40
edy05 33:a2f9fea05cb9 41 int port = 80; // set server port
edy05 33:a2f9fea05cb9 42 int SERVtimeout = 8; // set server timeout in seconds in case link breaks.
edy05 2:d172c9963f87 43
edy05 9:86a5af9935b1 44
edy05 2:d172c9963f87 45
edy05 2:d172c9963f87 46 //serverThread.start(serverRun);
edy05 2:d172c9963f87 47
edy05 2:d172c9963f87 48 void callback(){
edy05 34:5dca557e982f 49 ////pc.printf("callback!!!!!!!!!!!!!!!!_________________________\n\r");
edy05 2:d172c9963f87 50 led3 = 1;
edy05 2:d172c9963f87 51 while (esp.readable()) {
edy05 2:d172c9963f87 52 webbuff[count] = esp.getc();
edy05 2:d172c9963f87 53 count++;
edy05 2:d172c9963f87 54 }
edy05 2:d172c9963f87 55 if(strlen(webbuff)>bufflen) {
edy05 40:0aa1cefe80ab 56 //printf("bufflen %d \n\r");
edy05 2:d172c9963f87 57 DataRX=1;
edy05 2:d172c9963f87 58 led3=0;
edy05 2:d172c9963f87 59 }
edy05 2:d172c9963f87 60 }
edy05 2:d172c9963f87 61
edy05 2:d172c9963f87 62
edy05 2:d172c9963f87 63 void serverRun(){
edy05 37:76bfd4e9c383 64 chd_dp = 1;
edy05 2:d172c9963f87 65 reset=0;
edy05 25:69190c222dbf 66
edy05 34:5dca557e982f 67 //pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
edy05 37:76bfd4e9c383 68 wait(0.5);
edy05 2:d172c9963f87 69 reset=1;
edy05 2:d172c9963f87 70 timeout=6000;
edy05 2:d172c9963f87 71 getcount=500;
edy05 2:d172c9963f87 72 getreply();
edy05 2:d172c9963f87 73 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
edy05 2:d172c9963f87 74 startserver();
edy05 26:11539036f0fb 75 webcounter = 0;
edy05 31:5f1737e480f3 76 Timer timer;
edy05 34:5dca557e982f 77 bool pageWasSent = false;
edy05 2:d172c9963f87 78 while(1){
edy05 2:d172c9963f87 79 if(DataRX==1) {
edy05 31:5f1737e480f3 80 timer.start();
edy05 2:d172c9963f87 81 ReadWebData();
edy05 11:002927b2675d 82 // Save data to configFile
edy05 34:5dca557e982f 83 if ((servreq == 1 && weberror == 0) && pageWasSent == false) {
edy05 10:bb9c778f8e3e 84 // send HTTP Response
edy05 2:d172c9963f87 85 sendpage();
edy05 34:5dca557e982f 86 pageWasSent = true;
edy05 39:93d8aa47f4ce 87 timer.reset();
edy05 31:5f1737e480f3 88
edy05 2:d172c9963f87 89 }
edy05 32:c729e6da7f9a 90 else{
edy05 40:0aa1cefe80ab 91 pc.printf("Page was not sent \n\r");
edy05 32:c729e6da7f9a 92 }
edy05 2:d172c9963f87 93 esp.attach(&callback);
edy05 34:5dca557e982f 94 ////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 95 ////pc.printf("HTTP Packet: \n\n%s", webdata);
edy05 34:5dca557e982f 96 ////pc.printf("Web Characters sent : %d\n\n", bufl);
edy05 34:5dca557e982f 97 ////pc.printf("-------------------------------------\n\n");
edy05 2:d172c9963f87 98 servreq=0;
edy05 15:9cdf757269fb 99 memset(_serverMessage, '\0', sizeof(_serverMessage));
edy05 2:d172c9963f87 100 }
edy05 34:5dca557e982f 101 if(timer.read_ms() > 3000){
edy05 34:5dca557e982f 102 pageWasSent = false;
edy05 34:5dca557e982f 103 ////pc.printf("starting reading new configuration in server task\n\r");
edy05 31:5f1737e480f3 104 // when stop sending answers
edy05 31:5f1737e480f3 105 timer.stop();
edy05 31:5f1737e480f3 106 timer.reset();
edy05 32:c729e6da7f9a 107 if(_newP == _P && _newI == _I && _newD == _D){
edy05 31:5f1737e480f3 108 _onlyDistanChanged = true;
edy05 31:5f1737e480f3 109 }
edy05 39:93d8aa47f4ce 110 _groundSetPoint = _newGroundSetPoint;
edy05 32:c729e6da7f9a 111 _P = _newP;
edy05 32:c729e6da7f9a 112 _I = _newI;
edy05 32:c729e6da7f9a 113 _D = _newD;
edy05 31:5f1737e480f3 114 // Save data to configFile
edy05 31:5f1737e480f3 115 writeSettingsToConfig();
edy05 31:5f1737e480f3 116 // notification that config of pid was changed
edy05 31:5f1737e480f3 117 _configChanges = true;
edy05 31:5f1737e480f3 118 // start or stop ground regulation
edy05 31:5f1737e480f3 119 //_groundRegulation = _tempGroundRegulation;
edy05 31:5f1737e480f3 120 if(_groundRegulation != _tempGroundRegulation){
edy05 31:5f1737e480f3 121 _groundRegulation = _tempGroundRegulation;
edy05 31:5f1737e480f3 122 _groundDistance->resetError();
edy05 31:5f1737e480f3 123 }
edy05 31:5f1737e480f3 124
edy05 31:5f1737e480f3 125 }
edy05 31:5f1737e480f3 126
edy05 34:5dca557e982f 127 Thread::wait(100);
edy05 2:d172c9963f87 128 }
edy05 2:d172c9963f87 129 }
edy05 2:d172c9963f87 130
edy05 2:d172c9963f87 131
edy05 2:d172c9963f87 132 // Static WEB page
edy05 2:d172c9963f87 133 void sendpage(){
edy05 2:d172c9963f87 134 strcpy(webbuff, "<!DOCTYPE html>");
edy05 2:d172c9963f87 135 strcat(webbuff, "<html><head><title>ESP8266 Mbed LPC1768</title></head>");
edy05 2:d172c9963f87 136 strcat(webbuff, "<body>");
edy05 34:5dca557e982f 137 //strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web PID Controller</h1>");
edy05 34:5dca557e982f 138 //strcat(webbuff, "Hit Count - ");
edy05 34:5dca557e982f 139 //strcat(webbuff, webcount);
edy05 34:5dca557e982f 140 //strcat(webbuff, "</div><br /><hr>");
edy05 15:9cdf757269fb 141 //server message (mostly errors)
edy05 34:5dca557e982f 142 //strcat(webbuff, "<div stye=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h3>Server messages</h3>");
edy05 34:5dca557e982f 143 //strcat(webbuff, _serverMessage);
edy05 34:5dca557e982f 144 //strcat(webbuff, "</div><br><hr>");
edy05 34:5dca557e982f 145 strcat(webbuff, "<form method=\"POST\">");
edy05 34:5dca557e982f 146 //if(led1==0) {
edy05 34:5dca557e982f 147 // strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked> LED 1 off");
edy05 34:5dca557e982f 148 // strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" > LED 1 on<br>");
edy05 34:5dca557e982f 149 //} else {
edy05 34:5dca557e982f 150 // strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" > LED 1 off");
edy05 34:5dca557e982f 151 // strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked> LED 1 on<br>");
edy05 34:5dca557e982f 152 //}
edy05 25:69190c222dbf 153 // pid ground min output
edy05 41:5fe200d20022 154 strcat(webbuff, "<table><tr>");
edy05 41:5fe200d20022 155 strcat(webbuff, "<td>PID min: </td> <td><input type=\"text\" name=\"groundPidMinOutput\" size=\"4\" value=\"");
edy05 25:69190c222dbf 156 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 157 strcat(webbuff, _str);
edy05 41:5fe200d20022 158 strcat(webbuff, "\">");
edy05 41:5fe200d20022 159 strcat(webbuff, "</td></tr>");
edy05 41:5fe200d20022 160 strcat(webbuff, "<tr>");
edy05 25:69190c222dbf 161 //pid ground max output
edy05 41:5fe200d20022 162 strcat(webbuff, "<td>PID max: </td><td> <input type=\"text\" name=\"groundPidMaxOutput\" size=\"4\" value=\"");
edy05 25:69190c222dbf 163 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 164 strcat(webbuff, _str);
edy05 41:5fe200d20022 165 strcat(webbuff, "\">");
edy05 41:5fe200d20022 166 strcat(webbuff, "</td></tr>");
edy05 25:69190c222dbf 167 //ground regulation bias
edy05 41:5fe200d20022 168 strcat(webbuff, "<tr>");
edy05 41:5fe200d20022 169 strcat(webbuff, "<td>Bias: </td><td><input type=\"text\" name=\"bias\" size=\"4\" value=\"");
edy05 25:69190c222dbf 170 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 171 strcat(webbuff, _str);
edy05 41:5fe200d20022 172 strcat(webbuff, "\">");
edy05 41:5fe200d20022 173 strcat(webbuff, "</td></tr>");
edy05 41:5fe200d20022 174 strcat(webbuff, "<tr>");
edy05 41:5fe200d20022 175 strcat(webbuff, "<td>P:</td><td> <input type=\"text\" name=\"proportional\" size=\"4\" value=\"");
edy05 32:c729e6da7f9a 176 ConvertToCharArray(_newP);
edy05 9:86a5af9935b1 177 strcat(webbuff, _str);
edy05 41:5fe200d20022 178 strcat(webbuff, "\"></td></tr>");
edy05 41:5fe200d20022 179 strcat(webbuff, "<tr>");
edy05 41:5fe200d20022 180 strcat(webbuff, "<td>I: </td><td><input type=\"text\" name=\"integral\" size=\"4\" value=\"");
edy05 32:c729e6da7f9a 181 ConvertToCharArray(_newI);
edy05 9:86a5af9935b1 182 strcat(webbuff, _str);
edy05 41:5fe200d20022 183 strcat(webbuff, "\"></td></tr>");
edy05 41:5fe200d20022 184 strcat(webbuff, "<tr>");
edy05 41:5fe200d20022 185 strcat(webbuff, "<td>D: </td><td><input type=\"text\" name=\"derivative\" size=\"4\" value=\"");
edy05 32:c729e6da7f9a 186 ConvertToCharArray(_newD);
edy05 9:86a5af9935b1 187 strcat(webbuff, _str);
edy05 41:5fe200d20022 188 strcat(webbuff, "\"></td></tr>");
edy05 41:5fe200d20022 189 strcat(webbuff, "</table><br>");
edy05 14:076ef843e1ba 190 //Ground set Point
edy05 41:5fe200d20022 191 strcat(webbuff, "Regulovana vyska: <input type=\"text\" name=\"groundSetPoint\" size=\"4\" value=\"");
edy05 39:93d8aa47f4ce 192 ConvertToCharArray(_newGroundSetPoint);
edy05 14:076ef843e1ba 193 strcat(webbuff, _str);
edy05 14:076ef843e1ba 194 strcat(webbuff, "\"><br>");
edy05 41:5fe200d20022 195 // ground regulation
edy05 41:5fe200d20022 196 if(_tempGroundRegulation) {
edy05 41:5fe200d20022 197 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" checked> Regulace vysky - zapnout");
edy05 41:5fe200d20022 198 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" > Regulace vysky - vypnout</p>");
edy05 38:801fee0330e2 199 } else {
edy05 41:5fe200d20022 200 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" > Regulace vysky - zapnout");
edy05 41:5fe200d20022 201 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" checked> Regulace vysky - vypnout<p>");
edy05 38:801fee0330e2 202 }
edy05 41:5fe200d20022 203 if(_goAhead == false) {
edy05 41:5fe200d20022 204 strcat(webbuff, "<p><input type=\"radio\" name=\"goAhead\" value=\"1\" > Autonomni pohyb - zapnout");
edy05 41:5fe200d20022 205 strcat(webbuff, "<br><input type=\"radio\" name=\"goAhead\" value=\"0\" checked> Autonomni pohyb - vypnout</p>");
edy05 41:5fe200d20022 206 } else {
edy05 41:5fe200d20022 207 strcat(webbuff, "<p><input type=\"radio\" name=\"goAhead\" value=\"1\" checked> Autonomni pohyb - zapnout");
edy05 41:5fe200d20022 208 strcat(webbuff, "<br><input type=\"radio\" name=\"goAhead\" value=\"0\"> Autonomni pohyb - vypnout</p>");
edy05 41:5fe200d20022 209 }
edy05 41:5fe200d20022 210 strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" style=\"display:none\" checked></p>");
edy05 34:5dca557e982f 211 strcat(webbuff, "<p><input type=\"submit\"></p>");
edy05 34:5dca557e982f 212 strcat(webbuff, "</form>");
edy05 2:d172c9963f87 213 strcat(webbuff, "</body></html>");
edy05 2:d172c9963f87 214 // end of WEB page data
edy05 2:d172c9963f87 215 bufl = strlen(webbuff); // get total page buffer length
edy05 2:d172c9963f87 216 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
edy05 34:5dca557e982f 217 pc.printf("%s \n\r", cmdbuff);
edy05 2:d172c9963f87 218 timeout=200;
edy05 2:d172c9963f87 219 getcount=7;
edy05 2:d172c9963f87 220 SendCMD();
edy05 34:5dca557e982f 221 Thread::wait(1000);
edy05 2:d172c9963f87 222 getreply();
edy05 34:5dca557e982f 223 pc.printf("%s \n\r", replybuff);
edy05 2:d172c9963f87 224 SendWEB(); // send web page
edy05 2:d172c9963f87 225 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 226 sendcheck();
edy05 2:d172c9963f87 227
edy05 2:d172c9963f87 228 }
edy05 2:d172c9963f87 229
edy05 2:d172c9963f87 230 void sendcheck(){
edy05 2:d172c9963f87 231 weberror=1;
edy05 33:a2f9fea05cb9 232 timeout= 1000;
edy05 33:a2f9fea05cb9 233 getcount = 50;
edy05 2:d172c9963f87 234 t2.reset();
edy05 2:d172c9963f87 235 t2.start();
edy05 2:d172c9963f87 236 while(weberror==1 && t2.read() <5) {
edy05 2:d172c9963f87 237 getreply();
edy05 2:d172c9963f87 238 if (strstr(replybuff, "SEND OK") != NULL) {
edy05 2:d172c9963f87 239 weberror=0; // wait for valid SEND OK
edy05 2:d172c9963f87 240 }
edy05 2:d172c9963f87 241 }
edy05 2:d172c9963f87 242 if(weberror==1) { // restart connection
edy05 40:0aa1cefe80ab 243 pc.printf("sendcheck - restarting connection \n\r");
edy05 2:d172c9963f87 244 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
edy05 2:d172c9963f87 245 timeout=500;
edy05 2:d172c9963f87 246 getcount=10;
edy05 2:d172c9963f87 247 SendCMD();
edy05 2:d172c9963f87 248 getreply();
edy05 34:5dca557e982f 249 //pc.printf(replybuff);
edy05 33:a2f9fea05cb9 250 sprintf(cmdbuff,"AT+CIPSERVER=0,%d\r\n", port);
edy05 33:a2f9fea05cb9 251 timeout=500;
edy05 33:a2f9fea05cb9 252 getcount=10;
edy05 33:a2f9fea05cb9 253 SendCMD();
edy05 33:a2f9fea05cb9 254 getreply();
edy05 34:5dca557e982f 255 //pc.printf(replybuff);
edy05 2:d172c9963f87 256 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 257 timeout=500;
edy05 2:d172c9963f87 258 getcount=10;
edy05 2:d172c9963f87 259 SendCMD();
edy05 2:d172c9963f87 260 getreply();
edy05 34:5dca557e982f 261 //pc.printf(replybuff);
edy05 2:d172c9963f87 262 } else {
edy05 34:5dca557e982f 263 //pc.printf("sendcheck ok \n\r");
edy05 2:d172c9963f87 264 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
edy05 2:d172c9963f87 265 SendCMD();
edy05 2:d172c9963f87 266 getreply();
edy05 34:5dca557e982f 267 //pc.printf(replybuff);
edy05 2:d172c9963f87 268 }
edy05 2:d172c9963f87 269 t2.reset();
edy05 2:d172c9963f87 270 }
edy05 2:d172c9963f87 271
edy05 2:d172c9963f87 272 // Large WEB buffer data send
edy05 2:d172c9963f87 273 void SendWEB()
edy05 2:d172c9963f87 274 {
edy05 2:d172c9963f87 275 int i=0;
edy05 2:d172c9963f87 276 if(esp.writeable()) {
edy05 2:d172c9963f87 277 while(webbuff[i]!='\0') {
edy05 2:d172c9963f87 278 esp.putc(webbuff[i]);
edy05 2:d172c9963f87 279 i++;
edy05 2:d172c9963f87 280 }
edy05 2:d172c9963f87 281 }
edy05 2:d172c9963f87 282 }
edy05 2:d172c9963f87 283
edy05 2:d172c9963f87 284 // Reads and processes GET and POST web data
edy05 2:d172c9963f87 285 void ReadWebData(){
edy05 2:d172c9963f87 286 wait_ms(200);
edy05 2:d172c9963f87 287 esp.attach(NULL);
edy05 2:d172c9963f87 288 count=0;
edy05 2:d172c9963f87 289 DataRX=0;
edy05 2:d172c9963f87 290 weberror=0;
edy05 2:d172c9963f87 291 memset(webdata, '\0', sizeof(webdata));
edy05 2:d172c9963f87 292 int x = strcspn (webbuff,"+");
edy05 2:d172c9963f87 293 if(x) {
edy05 2:d172c9963f87 294 strcpy(webdata, webbuff + x);
edy05 34:5dca557e982f 295 //////pc.printf("webdata received: %s", webdata);
edy05 2:d172c9963f87 296 weberror=0;
edy05 2:d172c9963f87 297 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
edy05 2:d172c9963f87 298 if (strstr(webdata, "led1=1") != NULL ) {
edy05 2:d172c9963f87 299 led1=1;
edy05 2:d172c9963f87 300 }
edy05 2:d172c9963f87 301 if (strstr(webdata, "led1=0") != NULL ) {
edy05 2:d172c9963f87 302 led1=0;
edy05 2:d172c9963f87 303 }
edy05 21:0afb91824792 304 //ground regulation
edy05 21:0afb91824792 305 if (strstr(webdata, "groundRegulation=1") != NULL )
edy05 31:5f1737e480f3 306 _tempGroundRegulation = true;
edy05 21:0afb91824792 307 if (strstr(webdata, "groundRegulation=0") != NULL )
edy05 31:5f1737e480f3 308 _tempGroundRegulation = false;
edy05 25:69190c222dbf 309 // pid min Output
edy05 25:69190c222dbf 310 if (strstr(webdata, "groundPidMinOutput") != NULL ){
edy05 34:5dca557e982f 311 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 312 char* p_webdata = strstr(webdata, "groundPidMinOutput");
edy05 25:69190c222dbf 313 p_webdata = p_webdata + strlen("groundPidMinOutput") + 1;
edy05 25:69190c222dbf 314 int i = 0;
edy05 25:69190c222dbf 315 while(*p_webdata != '&'){
edy05 34:5dca557e982f 316 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 317 _str[i] = *p_webdata;
edy05 25:69190c222dbf 318 p_webdata += 1;
edy05 25:69190c222dbf 319 i++;
edy05 25:69190c222dbf 320 }
edy05 34:5dca557e982f 321 ////pc.printf("\n\r");
edy05 25:69190c222dbf 322 _str[i] = '\0';
edy05 34:5dca557e982f 323 //////pc.printf("groundPidMinOutput: %s", _str);
edy05 25:69190c222dbf 324 _groundPidMinOutput = atof(_str);
edy05 34:5dca557e982f 325 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 326 }
edy05 25:69190c222dbf 327 //pid max output
edy05 25:69190c222dbf 328 if (strstr(webdata, "groundPidMaxOutput") != NULL ){
edy05 34:5dca557e982f 329 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 330 char* p_webdata = strstr(webdata, "groundPidMaxOutput");
edy05 25:69190c222dbf 331 p_webdata = p_webdata + strlen("groundPidMaxOutput") + 1;
edy05 25:69190c222dbf 332 int i = 0;
edy05 25:69190c222dbf 333 while(*p_webdata != '&'){
edy05 34:5dca557e982f 334 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 335 _str[i] = *p_webdata;
edy05 25:69190c222dbf 336 p_webdata += 1;
edy05 25:69190c222dbf 337 i++;
edy05 25:69190c222dbf 338 }
edy05 34:5dca557e982f 339 //////pc.printf("\n\r");
edy05 25:69190c222dbf 340 _str[i] = '\0';
edy05 34:5dca557e982f 341 //////pc.printf("groundPidMaxOutput: %s", _str);
edy05 25:69190c222dbf 342 _groundPidMaxOutput = atof(_str);
edy05 34:5dca557e982f 343 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 344 }
edy05 25:69190c222dbf 345 //bias
edy05 25:69190c222dbf 346 if (strstr(webdata, "bias") != NULL ){
edy05 34:5dca557e982f 347 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 348 char* p_webdata = strstr(webdata, "bias");
edy05 25:69190c222dbf 349 p_webdata = p_webdata + strlen("bias") + 1;
edy05 25:69190c222dbf 350 int i = 0;
edy05 25:69190c222dbf 351 while(*p_webdata != '&'){
edy05 34:5dca557e982f 352 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 353 _str[i] = *p_webdata;
edy05 25:69190c222dbf 354 p_webdata += 1;
edy05 25:69190c222dbf 355 i++;
edy05 25:69190c222dbf 356 }
edy05 34:5dca557e982f 357 //////pc.printf("\n\r");
edy05 25:69190c222dbf 358 _str[i] = '\0';
edy05 34:5dca557e982f 359 //////pc.printf("bias: %s", _str);
edy05 25:69190c222dbf 360 _bias = atof(_str);
edy05 34:5dca557e982f 361 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 362 }
edy05 21:0afb91824792 363 // PID values
edy05 2:d172c9963f87 364 if (strstr(webdata, "proportional") != NULL ){
edy05 34:5dca557e982f 365 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 366 char* p_webdata = strstr(webdata, "proportional");
edy05 2:d172c9963f87 367 p_webdata = p_webdata + strlen("proportional") + 1;
edy05 2:d172c9963f87 368 int i = 0;
edy05 2:d172c9963f87 369 while(*p_webdata != '&'){
edy05 34:5dca557e982f 370 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 371 _str[i] = *p_webdata;
edy05 2:d172c9963f87 372 p_webdata += 1;
edy05 2:d172c9963f87 373 i++;
edy05 2:d172c9963f87 374 }
edy05 34:5dca557e982f 375 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 376 _str[i] = '\0';
edy05 34:5dca557e982f 377 //////pc.printf("proportional: %s", _str);
edy05 32:c729e6da7f9a 378 _newP = atof(_str);
edy05 34:5dca557e982f 379 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 380 }
edy05 2:d172c9963f87 381 if (strstr(webdata, "integral") != NULL){
edy05 34:5dca557e982f 382 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 383 char* p_webdata = strstr(webdata, "integral");
edy05 2:d172c9963f87 384 p_webdata = p_webdata + strlen("integral") + 1;
edy05 2:d172c9963f87 385 int i = 0;
edy05 2:d172c9963f87 386 while(*p_webdata != '&'){
edy05 34:5dca557e982f 387 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 388 _str[i] = *p_webdata;
edy05 2:d172c9963f87 389 p_webdata += 1;
edy05 2:d172c9963f87 390 i++;
edy05 2:d172c9963f87 391 }
edy05 34:5dca557e982f 392 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 393 _str[i] = '\0';
edy05 34:5dca557e982f 394 //////pc.printf("integral: %s", _str);
edy05 32:c729e6da7f9a 395 _newI = atof(_str);
edy05 34:5dca557e982f 396 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 397
edy05 2:d172c9963f87 398 }
edy05 2:d172c9963f87 399 if (strstr(webdata, "derivative") != NULL){
edy05 34:5dca557e982f 400 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 401 char* p_webdata = strstr(webdata, "derivative");
edy05 2:d172c9963f87 402 p_webdata = p_webdata + strlen("derivative") + 1;
edy05 2:d172c9963f87 403 int i = 0;
edy05 2:d172c9963f87 404 while(*p_webdata != '&'){
edy05 34:5dca557e982f 405 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 406 _str[i] = *p_webdata;
edy05 2:d172c9963f87 407 p_webdata += 1;
edy05 2:d172c9963f87 408 i++;
edy05 2:d172c9963f87 409 }
edy05 34:5dca557e982f 410 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 411 _str[i] = '\0';
edy05 34:5dca557e982f 412 //////pc.printf("derivative: %s", _str);
edy05 32:c729e6da7f9a 413 _newD = atof(_str);
edy05 34:5dca557e982f 414 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 415 }
edy05 14:076ef843e1ba 416 if (strstr(webdata, "groundSetPoint") != NULL){
edy05 34:5dca557e982f 417 //////pc.printf("\n\r looking for data \n\r");
edy05 14:076ef843e1ba 418 char* p_webdata = strstr(webdata, "groundSetPoint");
edy05 14:076ef843e1ba 419 p_webdata = p_webdata + strlen("groundSetPoint") + 1;
edy05 14:076ef843e1ba 420 int i = 0;
edy05 14:076ef843e1ba 421 while(*p_webdata != '&'){
edy05 34:5dca557e982f 422 ////pc.printf("%c", *p_webdata);
edy05 14:076ef843e1ba 423 _str[i] = *p_webdata;
edy05 14:076ef843e1ba 424 p_webdata += 1;
edy05 14:076ef843e1ba 425 i++;
edy05 14:076ef843e1ba 426 }
edy05 34:5dca557e982f 427 //////pc.printf("\n\r");
edy05 14:076ef843e1ba 428 _str[i] = '\0';
edy05 34:5dca557e982f 429 //////pc.printf("groundSetPoint: %s", _str);
edy05 39:93d8aa47f4ce 430 _newGroundSetPoint = atof(_str);
edy05 38:801fee0330e2 431 //////pc.printf("\n\r end of looking for data \n\r");
edy05 14:076ef843e1ba 432 }
edy05 38:801fee0330e2 433 //Go ahead
edy05 41:5fe200d20022 434 if (strstr(webdata, "goAhead=1") != NULL ){
edy05 41:5fe200d20022 435 pc.printf("go agead ON \n\r");
edy05 38:801fee0330e2 436 _goAhead = true;
edy05 41:5fe200d20022 437 }
edy05 41:5fe200d20022 438 if (strstr(webdata, "goAhead=0") != NULL ){
edy05 41:5fe200d20022 439 pc.printf("go agead OFF \n\r");
edy05 38:801fee0330e2 440 _goAhead = false;
edy05 41:5fe200d20022 441 }
edy05 40:0aa1cefe80ab 442 pc.printf("test \n\r");
edy05 2:d172c9963f87 443 sprintf(channel, "%d",linkID);
edy05 2:d172c9963f87 444 if (strstr(webdata, "GET") != NULL) {
edy05 40:0aa1cefe80ab 445 pc.printf("GET \n\r");
edy05 2:d172c9963f87 446 servreq=1;
edy05 2:d172c9963f87 447 }
edy05 2:d172c9963f87 448 if (strstr(webdata, "POST") != NULL) {
edy05 40:0aa1cefe80ab 449 pc.printf("POST \n\r");
edy05 2:d172c9963f87 450 servreq=1;
edy05 2:d172c9963f87 451 }
edy05 2:d172c9963f87 452 webcounter++;
edy05 2:d172c9963f87 453 sprintf(webcount, "%d",webcounter);
edy05 2:d172c9963f87 454 }else{
edy05 40:0aa1cefe80ab 455 pc.printf("no + \n\r");
edy05 2:d172c9963f87 456 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 457 esp.attach(&callback);
edy05 2:d172c9963f87 458 weberror=1;
edy05 2:d172c9963f87 459 }
edy05 2:d172c9963f87 460
edy05 2:d172c9963f87 461 }
edy05 2:d172c9963f87 462
edy05 2:d172c9963f87 463 void startserver(){
edy05 34:5dca557e982f 464 //pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
edy05 2:d172c9963f87 465 strcpy(cmdbuff,"AT+RST\r\n");
edy05 2:d172c9963f87 466 timeout=8000;
edy05 2:d172c9963f87 467 getcount=1000;
edy05 2:d172c9963f87 468 SendCMD();
edy05 2:d172c9963f87 469 getreply();
edy05 34:5dca557e982f 470 //pc.printf(replybuff);
edy05 34:5dca557e982f 471 //pc.printf("%d",count);
edy05 2:d172c9963f87 472 if (strstr(replybuff, "OK") != NULL) {
edy05 34:5dca557e982f 473 //////pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
edy05 2:d172c9963f87 474 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
edy05 2:d172c9963f87 475 timeout=500;
edy05 2:d172c9963f87 476 getcount=20;
edy05 2:d172c9963f87 477 SendCMD();
edy05 2:d172c9963f87 478 getreply();
edy05 34:5dca557e982f 479 //pc.printf(replybuff);
edy05 2:d172c9963f87 480 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 481 timeout=500;
edy05 2:d172c9963f87 482 getcount=20;
edy05 2:d172c9963f87 483 SendCMD();
edy05 2:d172c9963f87 484 getreply();
edy05 34:5dca557e982f 485 //pc.printf(replybuff);
edy05 2:d172c9963f87 486 wait(1);
edy05 2:d172c9963f87 487 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
edy05 2:d172c9963f87 488 timeout=500;
edy05 2:d172c9963f87 489 getcount=50;
edy05 2:d172c9963f87 490 SendCMD();
edy05 2:d172c9963f87 491 getreply();
edy05 34:5dca557e982f 492 //pc.printf(replybuff);
edy05 2:d172c9963f87 493 wait(5);
edy05 34:5dca557e982f 494 //pc.printf("\n Getting Server IP \r\n");
edy05 2:d172c9963f87 495 strcpy(cmdbuff, "AT+CIFSR\r\n");
edy05 2:d172c9963f87 496 timeout=2500;
edy05 2:d172c9963f87 497 getcount=200;
edy05 2:d172c9963f87 498 while(weberror==0) {
edy05 2:d172c9963f87 499 SendCMD();
edy05 2:d172c9963f87 500 getreply();
edy05 2:d172c9963f87 501 if (strstr(replybuff, "0.0.0.0") == NULL) {
edy05 2:d172c9963f87 502 weberror=1; // wait for valid IP
edy05 2:d172c9963f87 503 }
edy05 2:d172c9963f87 504 }
edy05 34:5dca557e982f 505 //pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
edy05 34:5dca557e982f 506 //pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
edy05 2:d172c9963f87 507 replybuff[strlen(replybuff)-1] = '\0';
edy05 2:d172c9963f87 508 //char* IP = replybuff + 5;
edy05 2:d172c9963f87 509 sprintf(webdata,"%s", replybuff);
edy05 2:d172c9963f87 510 //SAVE IP ADDRESS
edy05 2:d172c9963f87 511 get_ip_address(webdata);
edy05 34:5dca557e982f 512 //pc.printf("ip_address: %s\n\r",ip_address);
edy05 34:5dca557e982f 513 //pc.printf(webdata);
edy05 34:5dca557e982f 514 //pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
edy05 2:d172c9963f87 515 esp.attach(&callback);
edy05 2:d172c9963f87 516 } else {
edy05 34:5dca557e982f 517 //pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
edy05 2:d172c9963f87 518 while(1) {}
edy05 2:d172c9963f87 519 }
edy05 2:d172c9963f87 520 t2.reset();
edy05 2:d172c9963f87 521 t2.start();
edy05 2:d172c9963f87 522 }
edy05 2:d172c9963f87 523
edy05 2:d172c9963f87 524 void SendCMD()
edy05 2:d172c9963f87 525 {
edy05 2:d172c9963f87 526 esp.printf("%s", cmdbuff);
edy05 2:d172c9963f87 527 }
edy05 2:d172c9963f87 528
edy05 2:d172c9963f87 529 void getreply()
edy05 2:d172c9963f87 530 {
edy05 2:d172c9963f87 531 memset(replybuff, '\0', sizeof(replybuff));
edy05 2:d172c9963f87 532 t1.reset();
edy05 2:d172c9963f87 533 t1.start();
edy05 2:d172c9963f87 534 replycount=0;
edy05 2:d172c9963f87 535 while(t1.read_ms()< timeout && replycount < getcount) {
edy05 2:d172c9963f87 536 if(esp.readable()) {
edy05 2:d172c9963f87 537 replybuff[replycount] = esp.getc();
edy05 2:d172c9963f87 538 replycount++;
edy05 2:d172c9963f87 539 }
edy05 2:d172c9963f87 540 }
edy05 2:d172c9963f87 541 t1.stop();
edy05 2:d172c9963f87 542 }
edy05 2:d172c9963f87 543
edy05 2:d172c9963f87 544 void get_ip_address(char web_data[1024]){
edy05 2:d172c9963f87 545 char pre_text[] = "+CIFSR:STAIP,\"";
edy05 2:d172c9963f87 546 char* p_text = strstr(webdata, pre_text);
edy05 2:d172c9963f87 547 p_text = p_text+strlen(pre_text);
edy05 2:d172c9963f87 548 char* p_text2 = strstr(p_text, "\"");
edy05 2:d172c9963f87 549 for(int i = 0;;i++){
edy05 2:d172c9963f87 550 if(*(p_text+i) == *p_text2){
edy05 2:d172c9963f87 551 ip_address[i] = '\0';
edy05 2:d172c9963f87 552 break;
edy05 2:d172c9963f87 553 }
edy05 2:d172c9963f87 554 ip_address[i] = *(p_text+i);
edy05 2:d172c9963f87 555
edy05 2:d172c9963f87 556 }
edy05 2:d172c9963f87 557 }