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

main.cpp@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 0:5cefadfd5898 1 #include "mbed.h"
edy05 2:d172c9963f87 2 #include "rtos.h"
edy05 2:d172c9963f87 3 #include "hardware.h"
edy05 2:d172c9963f87 4 #include "Server.h"
edy05 1:3a5a074b39e0 5 #include "PpmRegen.h"
edy05 2:d172c9963f87 6 #include "distanceRegulation.h"
edy05 2:d172c9963f87 7 #include "hcsr04.h"
edy05 41:5fe200d20022 8 #include "front_back_sensors.h"
edy05 2:d172c9963f87 9 #include "PID.h"
edy05 8:b5128641d4cf 10 #include "ConfigFile.h"
edy05 0:5cefadfd5898 11
edy05 8:b5128641d4cf 12 //TEMP
edy05 11:002927b2675d 13
edy05 0:5cefadfd5898 14
edy05 2:d172c9963f87 15 //VARIABLES
edy05 2:d172c9963f87 16 uint16_t ppmInChannelsValue[CHANNELS];
edy05 41:5fe200d20022 17
edy05 0:5cefadfd5898 18
edy05 0:5cefadfd5898 19 //FUNCTIONS
edy05 0:5cefadfd5898 20 void print_ppmIn(void);
edy05 0:5cefadfd5898 21
edy05 26:11539036f0fb 22
edy05 0:5cefadfd5898 23 int main(){
edy05 25:69190c222dbf 24 pc.baud(115200);
edy05 25:69190c222dbf 25
edy05 41:5fe200d20022 26 osThreadId mainID;
edy05 41:5fe200d20022 27 mainID = Thread::gettid();
edy05 41:5fe200d20022 28 pc.printf("main gettid 0x%08X \n\r", mainID);
edy05 41:5fe200d20022 29
edy05 3:6c9f80f5e865 30 // INITIALIZE CLASSES
edy05 41:5fe200d20022 31 _ppmRegen = new PpmRegen(_interruptPin);
edy05 36:ed8b7b7b6cfa 32 float rate = (1.0 / FLIGHT_CONTROLLER_FREQUENCY);
edy05 36:ed8b7b7b6cfa 33 _groundDistance = new PID(0, 0, 0, rate);
edy05 1:3a5a074b39e0 34
edy05 31:5f1737e480f3 35 //setup PID
edy05 31:5f1737e480f3 36 loadConfigFile();
edy05 32:c729e6da7f9a 37 _newP = _P;
edy05 32:c729e6da7f9a 38 _newI = _I;
edy05 32:c729e6da7f9a 39 _newD = _D;
edy05 39:93d8aa47f4ce 40 _newGroundSetPoint = _groundSetPoint;
edy05 31:5f1737e480f3 41 // to show values in web browser after first load
edy05 31:5f1737e480f3 42 _groundDistance->setInputLimits(0, 300);
edy05 31:5f1737e480f3 43 _groundDistance->setMode(AUTO_MODE);
edy05 31:5f1737e480f3 44 _groundDistance->setTunings(_P, _I, _D);
edy05 31:5f1737e480f3 45 _groundDistance->setOutputLimits(_groundPidMinOutput, _groundPidMaxOutput);
edy05 31:5f1737e480f3 46 _groundDistance->setBias(_bias);
edy05 31:5f1737e480f3 47
edy05 3:6c9f80f5e865 48 // STARTING THREADS
edy05 33:a2f9fea05cb9 49 pc.printf("starting distance thread \n\r");
edy05 27:5956d5e3ff63 50 _distanceThread = new Thread(distanceRegulationThread);
edy05 41:5fe200d20022 51 osThreadId distanceID;
edy05 41:5fe200d20022 52 pc.printf("distance gettid 0x%08X \n\r", distanceID);
edy05 27:5956d5e3ff63 53 _distanceThread->set_priority(osPriorityRealtime);
edy05 34:5dca557e982f 54
edy05 34:5dca557e982f 55 //_sonic = new HCSR04(p7, p8, p5, p6);
edy05 40:0aa1cefe80ab 56 _sonic = new HCSR04(p5, p6);
edy05 40:0aa1cefe80ab 57
edy05 40:0aa1cefe80ab 58 //_frontSensorThread.start(front_sensor);
edy05 40:0aa1cefe80ab 59 //_frontSensorThread.set_priority(osPriorityHigh);
edy05 40:0aa1cefe80ab 60
edy05 40:0aa1cefe80ab 61 //_leftSensorThread.start(left_sensor);
edy05 40:0aa1cefe80ab 62 //_leftSensorThread.set_priority(osPriorityHigh);
edy05 34:5dca557e982f 63
edy05 41:5fe200d20022 64 pc.printf("Starting sonic threads \n\r");
edy05 40:0aa1cefe80ab 65 _frontSensorThread.start(callback(semaphore_thread, (void *)"frontSensor"));
edy05 40:0aa1cefe80ab 66 _backSensorThread.start(callback(semaphore_thread, (void *)"backSensor"));
edy05 40:0aa1cefe80ab 67 _frontSensorThread.set_priority(osPriorityHigh);
edy05 40:0aa1cefe80ab 68 _backSensorThread.set_priority(osPriorityHigh);
edy05 40:0aa1cefe80ab 69
edy05 40:0aa1cefe80ab 70
edy05 34:5dca557e982f 71
edy05 34:5dca557e982f 72
edy05 34:5dca557e982f 73 pc.printf("starting server thread \n\r");
edy05 41:5fe200d20022 74 osThreadId serverID;
edy05 41:5fe200d20022 75 pc.printf("server gettid 0x%08X \n\r", serverID);
edy05 34:5dca557e982f 76 _serverThread.start(serverRun);
edy05 34:5dca557e982f 77 _serverThread.set_priority(osPriorityHigh);
edy05 34:5dca557e982f 78
edy05 26:11539036f0fb 79 //distanceRegulation.start(2);
edy05 27:5956d5e3ff63 80 //_distanceThread.start(distanceRegulationTask);
edy05 2:d172c9963f87 81
edy05 26:11539036f0fb 82 //wait(1);
edy05 3:6c9f80f5e865 83
edy05 41:5fe200d20022 84
edy05 0:5cefadfd5898 85 while(1){
edy05 3:6c9f80f5e865 86 Thread::wait(osWaitForever);
edy05 0:5cefadfd5898 87 }
edy05 0:5cefadfd5898 88
edy05 0:5cefadfd5898 89 }
edy05 0:5cefadfd5898 90
edy05 2:d172c9963f87 91
edy05 0:5cefadfd5898 92 void print_ppmIn(){
edy05 2:d172c9963f87 93 _ppmRegen->getAllChannels(ppmInChannelsValue);
edy05 2:d172c9963f87 94 for(uint8_t channel= 0; channel < CHANNELS; channel++){
edy05 0:5cefadfd5898 95 pc.printf("PPM In Channel %d: %d \n\r", channel, ppmInChannelsValue[channel]);
edy05 0:5cefadfd5898 96 }
edy05 0:5cefadfd5898 97 pc.printf("\n\r");
edy05 0:5cefadfd5898 98 }