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@25:69190c222dbf, 2017-11-26 (annotated)

Committer:
edy05
Date:
Sun Nov 26 17:27:39 2017 +0000
Branch:
DistanceRegulation
Revision:
25:69190c222dbf
Parent:
23:46ae5b0464da
Child:
26:11539036f0fb
Server fix, Server added pid Limits, bias

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 2:d172c9963f87 6 RawSerial esp(p9, p10); // tx, rx
edy05 2:d172c9963f87 7 DigitalOut reset(p8);
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 2:d172c9963f87 19 char webdata[1024]; // This may need to be bigger depending on WEB browser used
edy05 2:d172c9963f87 20 char webbuff[4096]; // 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 25:69190c222dbf 26 bool start = true;
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 2:d172c9963f87 41 int port =80; // set server port
edy05 2:d172c9963f87 42 int SERVtimeout =5; // 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 2:d172c9963f87 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 2:d172c9963f87 56 DataRX=1;
edy05 2:d172c9963f87 57 led3=0;
edy05 2:d172c9963f87 58 }
edy05 2:d172c9963f87 59 }
edy05 2:d172c9963f87 60
edy05 2:d172c9963f87 61
edy05 2:d172c9963f87 62 void serverRun(){
edy05 2:d172c9963f87 63 reset=0;
edy05 25:69190c222dbf 64
edy05 2:d172c9963f87 65 pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
edy05 2:d172c9963f87 66 wait(0.5);
edy05 2:d172c9963f87 67 reset=1;
edy05 2:d172c9963f87 68 timeout=6000;
edy05 2:d172c9963f87 69 getcount=500;
edy05 2:d172c9963f87 70 getreply();
edy05 2:d172c9963f87 71 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
edy05 2:d172c9963f87 72 startserver();
edy05 9:86a5af9935b1 73 loadConfigFile();
edy05 2:d172c9963f87 74 while(1){
edy05 2:d172c9963f87 75 if(DataRX==1) {
edy05 2:d172c9963f87 76 ReadWebData();
edy05 11:002927b2675d 77 // Save data to configFile
edy05 11:002927b2675d 78 writeSettingsToConfig();
edy05 25:69190c222dbf 79 if ((servreq == 1 && weberror == 0) || start) {
edy05 25:69190c222dbf 80 start = false;
edy05 10:bb9c778f8e3e 81 // send HTTP Response
edy05 2:d172c9963f87 82 sendpage();
edy05 2:d172c9963f87 83 }
edy05 2:d172c9963f87 84 esp.attach(&callback);
edy05 2:d172c9963f87 85 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 2:d172c9963f87 86 pc.printf("\n\n HTTP Packet: \n\n%s\n", webdata);
edy05 2:d172c9963f87 87 pc.printf(" Web Characters sent : %d\n\n", bufl);
edy05 2:d172c9963f87 88 pc.printf(" -------------------------------------\n\n");
edy05 2:d172c9963f87 89 servreq=0;
edy05 15:9cdf757269fb 90 memset(_serverMessage, '\0', sizeof(_serverMessage));
edy05 2:d172c9963f87 91 }
edy05 23:46ae5b0464da 92 Thread::wait(50);
edy05 2:d172c9963f87 93 }
edy05 2:d172c9963f87 94 }
edy05 2:d172c9963f87 95
edy05 2:d172c9963f87 96
edy05 2:d172c9963f87 97 // Static WEB page
edy05 2:d172c9963f87 98 void sendpage(){
edy05 2:d172c9963f87 99 strcpy(webbuff, "<!DOCTYPE html>");
edy05 2:d172c9963f87 100 strcat(webbuff, "<html><head><title>ESP8266 Mbed LPC1768</title></head>");
edy05 2:d172c9963f87 101 strcat(webbuff, "<body>");
edy05 2:d172c9963f87 102 strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web PID Controller</h1>");
edy05 2:d172c9963f87 103 strcat(webbuff, "Hit Count - ");
edy05 2:d172c9963f87 104 strcat(webbuff, webcount);
edy05 2:d172c9963f87 105 strcat(webbuff, "</div><br /><hr>");
edy05 15:9cdf757269fb 106 //server message (mostly errors)
edy05 15:9cdf757269fb 107 strcat(webbuff, "<div stye=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h3>Server messages</h3>");
edy05 15:9cdf757269fb 108 strcat(webbuff, _serverMessage);
edy05 15:9cdf757269fb 109 strcat(webbuff, "</div><br><hr>");
edy05 2:d172c9963f87 110 strcat(webbuff, "<p><form method=\"POST\">");
edy05 2:d172c9963f87 111 if(led1==0) {
edy05 2:d172c9963f87 112 strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked> LED 1 off");
edy05 2:d172c9963f87 113 strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" > LED 1 on<br>");
edy05 2:d172c9963f87 114 } else {
edy05 2:d172c9963f87 115 strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" > LED 1 off");
edy05 2:d172c9963f87 116 strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked> LED 1 on<br>");
edy05 2:d172c9963f87 117 }
edy05 21:0afb91824792 118 // ground regulation
edy05 21:0afb91824792 119 if(_groundRegulation) {
edy05 21:0afb91824792 120 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" checked> Ground regulation ON");
edy05 21:0afb91824792 121 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" > Ground regulation OFF<br>");
edy05 21:0afb91824792 122 } else {
edy05 21:0afb91824792 123 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" > Ground regulation ON");
edy05 25:69190c222dbf 124 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" checked> Ground regulation OFF<br>");
edy05 21:0afb91824792 125 }
edy05 25:69190c222dbf 126 // pid ground min output
edy05 25:69190c222dbf 127 strcat(webbuff, "pid min Output: <input type=\"text\" name=\"groundPidMinOutput\" size=6 value=\"");
edy05 25:69190c222dbf 128 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 129 strcat(webbuff, _str);
edy05 25:69190c222dbf 130 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 131 //pid ground max output
edy05 25:69190c222dbf 132 strcat(webbuff, "pid max Output: <input type=\"text\" name=\"groundPidMaxOutput\" size=6 value=\"");
edy05 25:69190c222dbf 133 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 134 strcat(webbuff, _str);
edy05 25:69190c222dbf 135 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 136 //ground regulation bias
edy05 25:69190c222dbf 137 strcat(webbuff, "Bias: <input type=\"text\" name=\"bias\" size=6 value=\"");
edy05 25:69190c222dbf 138 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 139 strcat(webbuff, _str);
edy05 25:69190c222dbf 140 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 141 strcat(webbuff, "P: <input type=\"text\" name=\"proportional\" size=6 value=\"");
edy05 9:86a5af9935b1 142 ConvertToCharArray(_P);
edy05 9:86a5af9935b1 143 strcat(webbuff, _str);
edy05 2:d172c9963f87 144 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 145 strcat(webbuff, "I: <input type=\"text\" name=\"integral\" size=6 value=\"");
edy05 9:86a5af9935b1 146 ConvertToCharArray(_I);
edy05 9:86a5af9935b1 147 strcat(webbuff, _str);
edy05 2:d172c9963f87 148 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 149 strcat(webbuff, "D: <input type=\"text\" name=\"derivative\" size=6 value=\"");
edy05 9:86a5af9935b1 150 ConvertToCharArray(_D);
edy05 9:86a5af9935b1 151 strcat(webbuff, _str);
edy05 2:d172c9963f87 152 strcat(webbuff, "\"><br>");
edy05 14:076ef843e1ba 153 //Ground set Point
edy05 14:076ef843e1ba 154 strcat(webbuff, "Ground setPoint: <input type=\"text\" name=\"groundSetPoint\" size=6 value=\"");
edy05 14:076ef843e1ba 155 ConvertToCharArray(_groundSetPoint);
edy05 14:076ef843e1ba 156 strcat(webbuff, _str);
edy05 14:076ef843e1ba 157 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 158 strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" checked>");
edy05 2:d172c9963f87 159 strcat(webbuff, "<p><input type=\"submit\" value=\"send-refresh\" style=\"background: #3498db;");
edy05 2:d172c9963f87 160 strcat(webbuff, "background-image:-webkit-linear-gradient(top, #3498db, #2980b9);");
edy05 2:d172c9963f87 161 strcat(webbuff, "background-image:linear-gradient(to bottom, #3498db, #2980b9);");
edy05 2:d172c9963f87 162 strcat(webbuff, "-webkit-border-radius:12;border-radius: 12px;font-family: Arial;color:#ffffff;font-size:20px;padding:");
edy05 2:d172c9963f87 163 strcat(webbuff, "10px 20px 10px 20px; border:solid #103c57 3px;text-decoration: none;");
edy05 2:d172c9963f87 164 strcat(webbuff, "background: #3cb0fd;");
edy05 2:d172c9963f87 165 strcat(webbuff, "background-image:-webkit-linear-gradient(top,#3cb0fd,#1a5f8a);");
edy05 2:d172c9963f87 166 strcat(webbuff, "background-image:linear-gradient(to bottom,#3cb0fd,#1a5f8a);");
edy05 2:d172c9963f87 167 strcat(webbuff, "text-decoration:none;\"></form>");
edy05 2:d172c9963f87 168 strcat(webbuff, "</body></html>");
edy05 2:d172c9963f87 169 // end of WEB page data
edy05 2:d172c9963f87 170 bufl = strlen(webbuff); // get total page buffer length
edy05 2:d172c9963f87 171 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
edy05 2:d172c9963f87 172 timeout=200;
edy05 2:d172c9963f87 173 getcount=7;
edy05 2:d172c9963f87 174 SendCMD();
edy05 2:d172c9963f87 175 getreply();
edy05 2:d172c9963f87 176 SendWEB(); // send web page
edy05 2:d172c9963f87 177 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 178 sendcheck();
edy05 2:d172c9963f87 179
edy05 2:d172c9963f87 180 }
edy05 2:d172c9963f87 181
edy05 2:d172c9963f87 182 void sendcheck(){
edy05 2:d172c9963f87 183 weberror=1;
edy05 2:d172c9963f87 184 timeout=500;
edy05 2:d172c9963f87 185 getcount=24;
edy05 2:d172c9963f87 186 t2.reset();
edy05 2:d172c9963f87 187 t2.start();
edy05 2:d172c9963f87 188 while(weberror==1 && t2.read() <5) {
edy05 2:d172c9963f87 189 getreply();
edy05 2:d172c9963f87 190 if (strstr(replybuff, "SEND OK") != NULL) {
edy05 2:d172c9963f87 191 weberror=0; // wait for valid SEND OK
edy05 2:d172c9963f87 192 }
edy05 2:d172c9963f87 193 }
edy05 2:d172c9963f87 194 if(weberror==1) { // restart connection
edy05 2:d172c9963f87 195 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
edy05 2:d172c9963f87 196 timeout=500;
edy05 2:d172c9963f87 197 getcount=10;
edy05 2:d172c9963f87 198 SendCMD();
edy05 2:d172c9963f87 199 getreply();
edy05 2:d172c9963f87 200 pc.printf(replybuff);
edy05 2:d172c9963f87 201 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 202 timeout=500;
edy05 2:d172c9963f87 203 getcount=10;
edy05 2:d172c9963f87 204 SendCMD();
edy05 2:d172c9963f87 205 getreply();
edy05 2:d172c9963f87 206 pc.printf(replybuff);
edy05 2:d172c9963f87 207 } else {
edy05 2:d172c9963f87 208 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
edy05 2:d172c9963f87 209 SendCMD();
edy05 2:d172c9963f87 210 getreply();
edy05 2:d172c9963f87 211 pc.printf(replybuff);
edy05 2:d172c9963f87 212 }
edy05 2:d172c9963f87 213 t2.reset();
edy05 2:d172c9963f87 214 }
edy05 2:d172c9963f87 215
edy05 2:d172c9963f87 216 // Large WEB buffer data send
edy05 2:d172c9963f87 217 void SendWEB()
edy05 2:d172c9963f87 218 {
edy05 2:d172c9963f87 219 int i=0;
edy05 2:d172c9963f87 220 if(esp.writeable()) {
edy05 2:d172c9963f87 221 while(webbuff[i]!='\0') {
edy05 2:d172c9963f87 222 esp.putc(webbuff[i]);
edy05 2:d172c9963f87 223 i++;
edy05 2:d172c9963f87 224 }
edy05 2:d172c9963f87 225 }
edy05 2:d172c9963f87 226 }
edy05 2:d172c9963f87 227
edy05 2:d172c9963f87 228 // Reads and processes GET and POST web data
edy05 2:d172c9963f87 229 void ReadWebData(){
edy05 2:d172c9963f87 230 wait_ms(200);
edy05 2:d172c9963f87 231 esp.attach(NULL);
edy05 2:d172c9963f87 232 count=0;
edy05 2:d172c9963f87 233 DataRX=0;
edy05 2:d172c9963f87 234 weberror=0;
edy05 2:d172c9963f87 235 memset(webdata, '\0', sizeof(webdata));
edy05 2:d172c9963f87 236 int x = strcspn (webbuff,"+");
edy05 2:d172c9963f87 237 if(x) {
edy05 2:d172c9963f87 238 strcpy(webdata, webbuff + x);
edy05 2:d172c9963f87 239 pc.printf("webdata received: %s", webdata);
edy05 2:d172c9963f87 240 weberror=0;
edy05 2:d172c9963f87 241 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
edy05 2:d172c9963f87 242 if (strstr(webdata, "led1=1") != NULL ) {
edy05 2:d172c9963f87 243 led1=1;
edy05 2:d172c9963f87 244 }
edy05 2:d172c9963f87 245 if (strstr(webdata, "led1=0") != NULL ) {
edy05 2:d172c9963f87 246 led1=0;
edy05 2:d172c9963f87 247 }
edy05 21:0afb91824792 248 //ground regulation
edy05 21:0afb91824792 249 if (strstr(webdata, "groundRegulation=1") != NULL )
edy05 21:0afb91824792 250 _groundRegulation = true;
edy05 21:0afb91824792 251 if (strstr(webdata, "groundRegulation=0") != NULL )
edy05 21:0afb91824792 252 _groundRegulation = false;
edy05 25:69190c222dbf 253 // pid min Output
edy05 25:69190c222dbf 254 if (strstr(webdata, "groundPidMinOutput") != NULL ){
edy05 25:69190c222dbf 255 pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 256 char* p_webdata = strstr(webdata, "groundPidMinOutput");
edy05 25:69190c222dbf 257 p_webdata = p_webdata + strlen("groundPidMinOutput") + 1;
edy05 25:69190c222dbf 258 int i = 0;
edy05 25:69190c222dbf 259 while(*p_webdata != '&'){
edy05 25:69190c222dbf 260 pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 261 _str[i] = *p_webdata;
edy05 25:69190c222dbf 262 p_webdata += 1;
edy05 25:69190c222dbf 263 i++;
edy05 25:69190c222dbf 264 }
edy05 25:69190c222dbf 265 pc.printf("\n\r");
edy05 25:69190c222dbf 266 _str[i] = '\0';
edy05 25:69190c222dbf 267 pc.printf("groundPidMinOutput: %s", _str);
edy05 25:69190c222dbf 268 _groundPidMinOutput = atof(_str);
edy05 25:69190c222dbf 269 pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 270 }
edy05 25:69190c222dbf 271 //pid max output
edy05 25:69190c222dbf 272 if (strstr(webdata, "groundPidMaxOutput") != NULL ){
edy05 25:69190c222dbf 273 pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 274 char* p_webdata = strstr(webdata, "groundPidMaxOutput");
edy05 25:69190c222dbf 275 p_webdata = p_webdata + strlen("groundPidMaxOutput") + 1;
edy05 25:69190c222dbf 276 int i = 0;
edy05 25:69190c222dbf 277 while(*p_webdata != '&'){
edy05 25:69190c222dbf 278 pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 279 _str[i] = *p_webdata;
edy05 25:69190c222dbf 280 p_webdata += 1;
edy05 25:69190c222dbf 281 i++;
edy05 25:69190c222dbf 282 }
edy05 25:69190c222dbf 283 pc.printf("\n\r");
edy05 25:69190c222dbf 284 _str[i] = '\0';
edy05 25:69190c222dbf 285 pc.printf("groundPidMaxOutput: %s", _str);
edy05 25:69190c222dbf 286 _groundPidMaxOutput = atof(_str);
edy05 25:69190c222dbf 287 pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 288 }
edy05 25:69190c222dbf 289 //bias
edy05 25:69190c222dbf 290 if (strstr(webdata, "bias") != NULL ){
edy05 25:69190c222dbf 291 pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 292 char* p_webdata = strstr(webdata, "bias");
edy05 25:69190c222dbf 293 p_webdata = p_webdata + strlen("bias") + 1;
edy05 25:69190c222dbf 294 int i = 0;
edy05 25:69190c222dbf 295 while(*p_webdata != '&'){
edy05 25:69190c222dbf 296 pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 297 _str[i] = *p_webdata;
edy05 25:69190c222dbf 298 p_webdata += 1;
edy05 25:69190c222dbf 299 i++;
edy05 25:69190c222dbf 300 }
edy05 25:69190c222dbf 301 pc.printf("\n\r");
edy05 25:69190c222dbf 302 _str[i] = '\0';
edy05 25:69190c222dbf 303 pc.printf("bias: %s", _str);
edy05 25:69190c222dbf 304 _bias = atof(_str);
edy05 25:69190c222dbf 305 pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 306 }
edy05 21:0afb91824792 307 // PID values
edy05 2:d172c9963f87 308 if (strstr(webdata, "proportional") != NULL ){
edy05 2:d172c9963f87 309 pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 310 char* p_webdata = strstr(webdata, "proportional");
edy05 2:d172c9963f87 311 p_webdata = p_webdata + strlen("proportional") + 1;
edy05 2:d172c9963f87 312 int i = 0;
edy05 2:d172c9963f87 313 while(*p_webdata != '&'){
edy05 2:d172c9963f87 314 pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 315 _str[i] = *p_webdata;
edy05 2:d172c9963f87 316 p_webdata += 1;
edy05 2:d172c9963f87 317 i++;
edy05 2:d172c9963f87 318 }
edy05 2:d172c9963f87 319 pc.printf("\n\r");
edy05 9:86a5af9935b1 320 _str[i] = '\0';
edy05 9:86a5af9935b1 321 pc.printf("proportional: %s", _str);
edy05 9:86a5af9935b1 322 _P = atof(_str);
edy05 2:d172c9963f87 323 pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 324 }
edy05 2:d172c9963f87 325 if (strstr(webdata, "integral") != NULL){
edy05 2:d172c9963f87 326 pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 327 char* p_webdata = strstr(webdata, "integral");
edy05 2:d172c9963f87 328 p_webdata = p_webdata + strlen("integral") + 1;
edy05 2:d172c9963f87 329 int i = 0;
edy05 2:d172c9963f87 330 while(*p_webdata != '&'){
edy05 2:d172c9963f87 331 pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 332 _str[i] = *p_webdata;
edy05 2:d172c9963f87 333 p_webdata += 1;
edy05 2:d172c9963f87 334 i++;
edy05 2:d172c9963f87 335 }
edy05 2:d172c9963f87 336 pc.printf("\n\r");
edy05 9:86a5af9935b1 337 _str[i] = '\0';
edy05 9:86a5af9935b1 338 pc.printf("integral: %s", _str);
edy05 9:86a5af9935b1 339 _I = atof(_str);
edy05 2:d172c9963f87 340 pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 341
edy05 2:d172c9963f87 342 }
edy05 2:d172c9963f87 343 if (strstr(webdata, "derivative") != NULL){
edy05 2:d172c9963f87 344 pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 345 char* p_webdata = strstr(webdata, "derivative");
edy05 2:d172c9963f87 346 p_webdata = p_webdata + strlen("derivative") + 1;
edy05 2:d172c9963f87 347 int i = 0;
edy05 2:d172c9963f87 348 while(*p_webdata != '&'){
edy05 2:d172c9963f87 349 pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 350 _str[i] = *p_webdata;
edy05 2:d172c9963f87 351 p_webdata += 1;
edy05 2:d172c9963f87 352 i++;
edy05 2:d172c9963f87 353 }
edy05 2:d172c9963f87 354 pc.printf("\n\r");
edy05 9:86a5af9935b1 355 _str[i] = '\0';
edy05 9:86a5af9935b1 356 pc.printf("derivative: %s", _str);
edy05 9:86a5af9935b1 357 _D = atof(_str);
edy05 2:d172c9963f87 358 pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 359 }
edy05 14:076ef843e1ba 360 if (strstr(webdata, "groundSetPoint") != NULL){
edy05 14:076ef843e1ba 361 pc.printf("\n\r looking for data \n\r");
edy05 14:076ef843e1ba 362 char* p_webdata = strstr(webdata, "groundSetPoint");
edy05 14:076ef843e1ba 363 p_webdata = p_webdata + strlen("groundSetPoint") + 1;
edy05 14:076ef843e1ba 364 int i = 0;
edy05 14:076ef843e1ba 365 while(*p_webdata != '&'){
edy05 14:076ef843e1ba 366 pc.printf("%c", *p_webdata);
edy05 14:076ef843e1ba 367 _str[i] = *p_webdata;
edy05 14:076ef843e1ba 368 p_webdata += 1;
edy05 14:076ef843e1ba 369 i++;
edy05 14:076ef843e1ba 370 }
edy05 14:076ef843e1ba 371 pc.printf("\n\r");
edy05 14:076ef843e1ba 372 _str[i] = '\0';
edy05 14:076ef843e1ba 373 pc.printf("groundSetPoint: %s", _str);
edy05 14:076ef843e1ba 374 _groundSetPoint = atof(_str);
edy05 14:076ef843e1ba 375 pc.printf("\n\r end of looking for data \n\r");
edy05 14:076ef843e1ba 376 }
edy05 2:d172c9963f87 377 sprintf(channel, "%d",linkID);
edy05 2:d172c9963f87 378 if (strstr(webdata, "GET") != NULL) {
edy05 2:d172c9963f87 379 servreq=1;
edy05 2:d172c9963f87 380 }
edy05 2:d172c9963f87 381 if (strstr(webdata, "POST") != NULL) {
edy05 2:d172c9963f87 382 servreq=1;
edy05 2:d172c9963f87 383 }
edy05 2:d172c9963f87 384 webcounter++;
edy05 2:d172c9963f87 385 sprintf(webcount, "%d",webcounter);
edy05 2:d172c9963f87 386 }else{
edy05 2:d172c9963f87 387 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 388 esp.attach(&callback);
edy05 2:d172c9963f87 389 weberror=1;
edy05 2:d172c9963f87 390 }
edy05 2:d172c9963f87 391
edy05 2:d172c9963f87 392 }
edy05 2:d172c9963f87 393
edy05 2:d172c9963f87 394 void startserver(){
edy05 2:d172c9963f87 395 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
edy05 2:d172c9963f87 396 strcpy(cmdbuff,"AT+RST\r\n");
edy05 2:d172c9963f87 397 timeout=8000;
edy05 2:d172c9963f87 398 getcount=1000;
edy05 2:d172c9963f87 399 SendCMD();
edy05 2:d172c9963f87 400 getreply();
edy05 2:d172c9963f87 401 pc.printf(replybuff);
edy05 2:d172c9963f87 402 pc.printf("%d",count);
edy05 2:d172c9963f87 403 if (strstr(replybuff, "OK") != NULL) {
edy05 2:d172c9963f87 404 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
edy05 2:d172c9963f87 405 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
edy05 2:d172c9963f87 406 timeout=500;
edy05 2:d172c9963f87 407 getcount=20;
edy05 2:d172c9963f87 408 SendCMD();
edy05 2:d172c9963f87 409 getreply();
edy05 2:d172c9963f87 410 pc.printf(replybuff);
edy05 2:d172c9963f87 411 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 412 timeout=500;
edy05 2:d172c9963f87 413 getcount=20;
edy05 2:d172c9963f87 414 SendCMD();
edy05 2:d172c9963f87 415 getreply();
edy05 2:d172c9963f87 416 pc.printf(replybuff);
edy05 2:d172c9963f87 417 wait(1);
edy05 2:d172c9963f87 418 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
edy05 2:d172c9963f87 419 timeout=500;
edy05 2:d172c9963f87 420 getcount=50;
edy05 2:d172c9963f87 421 SendCMD();
edy05 2:d172c9963f87 422 getreply();
edy05 2:d172c9963f87 423 pc.printf(replybuff);
edy05 2:d172c9963f87 424 wait(5);
edy05 2:d172c9963f87 425 pc.printf("\n Getting Server IP \r\n");
edy05 2:d172c9963f87 426 strcpy(cmdbuff, "AT+CIFSR\r\n");
edy05 2:d172c9963f87 427 timeout=2500;
edy05 2:d172c9963f87 428 getcount=200;
edy05 2:d172c9963f87 429 while(weberror==0) {
edy05 2:d172c9963f87 430 SendCMD();
edy05 2:d172c9963f87 431 getreply();
edy05 2:d172c9963f87 432 if (strstr(replybuff, "0.0.0.0") == NULL) {
edy05 2:d172c9963f87 433 weberror=1; // wait for valid IP
edy05 2:d172c9963f87 434 }
edy05 2:d172c9963f87 435 }
edy05 2:d172c9963f87 436 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
edy05 2:d172c9963f87 437 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
edy05 2:d172c9963f87 438 replybuff[strlen(replybuff)-1] = '\0';
edy05 2:d172c9963f87 439 //char* IP = replybuff + 5;
edy05 2:d172c9963f87 440 sprintf(webdata,"%s", replybuff);
edy05 2:d172c9963f87 441 //SAVE IP ADDRESS
edy05 2:d172c9963f87 442 get_ip_address(webdata);
edy05 2:d172c9963f87 443 pc.printf("ip_address: %s\n\r",ip_address);
edy05 2:d172c9963f87 444 pc.printf(webdata);
edy05 2:d172c9963f87 445 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
edy05 2:d172c9963f87 446 esp.attach(&callback);
edy05 2:d172c9963f87 447 } else {
edy05 2:d172c9963f87 448 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
edy05 2:d172c9963f87 449 while(1) {}
edy05 2:d172c9963f87 450 }
edy05 2:d172c9963f87 451 t2.reset();
edy05 2:d172c9963f87 452 t2.start();
edy05 2:d172c9963f87 453 }
edy05 2:d172c9963f87 454
edy05 2:d172c9963f87 455 void SendCMD()
edy05 2:d172c9963f87 456 {
edy05 2:d172c9963f87 457 esp.printf("%s", cmdbuff);
edy05 2:d172c9963f87 458 }
edy05 2:d172c9963f87 459
edy05 2:d172c9963f87 460 void getreply()
edy05 2:d172c9963f87 461 {
edy05 2:d172c9963f87 462 memset(replybuff, '\0', sizeof(replybuff));
edy05 2:d172c9963f87 463 t1.reset();
edy05 2:d172c9963f87 464 t1.start();
edy05 2:d172c9963f87 465 replycount=0;
edy05 2:d172c9963f87 466 while(t1.read_ms()< timeout && replycount < getcount) {
edy05 2:d172c9963f87 467 if(esp.readable()) {
edy05 2:d172c9963f87 468 replybuff[replycount] = esp.getc();
edy05 2:d172c9963f87 469 replycount++;
edy05 2:d172c9963f87 470 }
edy05 2:d172c9963f87 471 }
edy05 2:d172c9963f87 472 t1.stop();
edy05 2:d172c9963f87 473 }
edy05 2:d172c9963f87 474
edy05 2:d172c9963f87 475 void get_ip_address(char web_data[1024]){
edy05 2:d172c9963f87 476 char pre_text[] = "+CIFSR:STAIP,\"";
edy05 2:d172c9963f87 477 char* p_text = strstr(webdata, pre_text);
edy05 2:d172c9963f87 478 p_text = p_text+strlen(pre_text);
edy05 2:d172c9963f87 479 char* p_text2 = strstr(p_text, "\"");
edy05 2:d172c9963f87 480 for(int i = 0;;i++){
edy05 2:d172c9963f87 481 if(*(p_text+i) == *p_text2){
edy05 2:d172c9963f87 482 ip_address[i] = '\0';
edy05 2:d172c9963f87 483 break;
edy05 2:d172c9963f87 484 }
edy05 2:d172c9963f87 485 ip_address[i] = *(p_text+i);
edy05 2:d172c9963f87 486
edy05 2:d172c9963f87 487 }
edy05 2:d172c9963f87 488 }