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

Committer:
edy05
Date:
Sun Nov 26 17:27:39 2017 +0000
Branch:
DistanceRegulation
Revision:
25:69190c222dbf
Parent:
21:0afb91824792
Child:
26:11539036f0fb
Server fix, Server added pid Limits, bias

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 2:d172c9963f87 17 Serial pc(USBTX, USBRX); // tx, rx
edy05 11:002927b2675d 18 PID* _groundDistance;
edy05 11:002927b2675d 19 HCSR04* _sonic;
edy05 11:002927b2675d 20 PpmRegen* _ppmRegen;
edy05 11:002927b2675d 21
edy05 11:002927b2675d 22 ConfigFile _configFile;
edy05 11:002927b2675d 23 LocalFileSystem local("local");
edy05 2:d172c9963f87 24
edy05 2:d172c9963f87 25 Thread serverThread;
edy05 2:d172c9963f87 26 Thread distanceThread;
edy05 2:d172c9963f87 27
edy05 2:d172c9963f87 28 InterruptIn* _interruptPort = new InterruptIn(p28);
edy05 2:d172c9963f87 29 PwmOut* _roll = new PwmOut(p21);
edy05 2:d172c9963f87 30 PwmOut* _pitch = new PwmOut(p22);
edy05 2:d172c9963f87 31 PwmOut* _throttle = new PwmOut(p23);
edy05 2:d172c9963f87 32 PwmOut* _yaw = new PwmOut(p24);
edy05 2:d172c9963f87 33 PwmOut* _aux1 = new PwmOut(p25);
edy05 2:d172c9963f87 34 PwmOut* _aux2 = new PwmOut(p26);
edy05 2:d172c9963f87 35
edy05 2:d172c9963f87 36
edy05 9:86a5af9935b1 37 char* _str = new char[1024];
edy05 15:9cdf757269fb 38 char* _serverMessage = new char[1024];
edy05 17:1896d242945b 39 bool _configChanges = false;
edy05 15:9cdf757269fb 40 // zero is default value
edy05 9:86a5af9935b1 41 float _P = 0;
edy05 9:86a5af9935b1 42 float _I = 0;
edy05 9:86a5af9935b1 43 float _D = 0;
edy05 14:076ef843e1ba 44 int _groundSetPoint = 0;
edy05 25:69190c222dbf 45 int _bias = 0;
edy05 25:69190c222dbf 46 int _groundPidMinOutput = 0;
edy05 25:69190c222dbf 47 int _groundPidMaxOutput = 0;
edy05 21:0afb91824792 48 bool _groundRegulation = false;
edy05 8:b5128641d4cf 49
edy05 11:002927b2675d 50
edy05 11:002927b2675d 51
edy05 11:002927b2675d 52
edy05 10:bb9c778f8e3e 53
edy05 9:86a5af9935b1 54 void loadConfigFile(void){
edy05 9:86a5af9935b1 55 //reading configFile
edy05 9:86a5af9935b1 56 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 57 char value[BUFSIZ];
edy05 25:69190c222dbf 58 if (_configFile.getValue("bias", &value[0], sizeof(value)))
edy05 25:69190c222dbf 59 _bias = atof(value);
edy05 25:69190c222dbf 60 if (_configFile.getValue("groundPidMinOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 61 _groundPidMinOutput = atof(value);
edy05 25:69190c222dbf 62 if (_configFile.getValue("groundPidMaxOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 63 _groundPidMaxOutput = atof(value);
edy05 9:86a5af9935b1 64 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 65 _P = atof(value);
edy05 9:86a5af9935b1 66 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 67 _I = atof(value);
edy05 9:86a5af9935b1 68 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 69 _D = atof(value);
edy05 14:076ef843e1ba 70 if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
edy05 14:076ef843e1ba 71 _groundSetPoint = atof(value);
edy05 9:86a5af9935b1 72
edy05 9:86a5af9935b1 73 }
edy05 9:86a5af9935b1 74
edy05 11:002927b2675d 75 void writeSettingsToConfig(void){
edy05 25:69190c222dbf 76 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 77 if(!_configFile.setValue("bias", _str))
edy05 25:69190c222dbf 78 strcat(_serverMessage, "bias value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 79 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 80 if(!_configFile.setValue("groundPidMinOutput", _str))
edy05 25:69190c222dbf 81 strcat(_serverMessage, "groundPidMinOutput value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 82 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 83 if(!_configFile.setValue("groundPidMaxOutput", _str))
edy05 25:69190c222dbf 84 strcat(_serverMessage, "groundPidMaxOutput value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 85 ConvertToCharArray(_P);
edy05 15:9cdf757269fb 86 if(!_configFile.setValue("P", _str))
edy05 15:9cdf757269fb 87 strcat(_serverMessage, "P value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 88 ConvertToCharArray(_I);
edy05 15:9cdf757269fb 89 if(!_configFile.setValue("I", _str))
edy05 15:9cdf757269fb 90 strcat(_serverMessage, "I value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 91 ConvertToCharArray(_D);
edy05 15:9cdf757269fb 92 if(!_configFile.setValue("D", _str))
edy05 15:9cdf757269fb 93 strcat(_serverMessage, "D value could not be saved to configFile\n\r");
edy05 14:076ef843e1ba 94 ConvertToCharArray(_groundSetPoint);
edy05 15:9cdf757269fb 95 if(!_configFile.setValue("groundSetPoint", _str)){
edy05 15:9cdf757269fb 96 strcat(_serverMessage, "groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 97 pc.printf("groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 98 }
edy05 10:bb9c778f8e3e 99
edy05 10:bb9c778f8e3e 100 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 101
edy05 17:1896d242945b 102 _configChanges = true;
edy05 13:33024b5880b3 103
edy05 10:bb9c778f8e3e 104 }
edy05 10:bb9c778f8e3e 105
edy05 11:002927b2675d 106
edy05 11:002927b2675d 107 void writeErrorLog(char *message){
edy05 11:002927b2675d 108 FILE *fp = fopen("/local/errorlog.txt", "w");
edy05 11:002927b2675d 109 fprintf(fp, message);
edy05 11:002927b2675d 110 fclose(fp);
edy05 11:002927b2675d 111
edy05 11:002927b2675d 112 }
edy05 11:002927b2675d 113
edy05 11:002927b2675d 114
edy05 9:86a5af9935b1 115 //Converts float to char array
edy05 9:86a5af9935b1 116 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 117 {
edy05 25:69190c222dbf 118 sprintf(_str, "%3.6f", number );
edy05 9:86a5af9935b1 119 }
edy05 8:b5128641d4cf 120
edy05 14:076ef843e1ba 121 //Converts integer to char array
edy05 14:076ef843e1ba 122 void ConvertToCharArray(int number)
edy05 14:076ef843e1ba 123 {
edy05 14:076ef843e1ba 124 sprintf(_str, "%d", number );
edy05 14:076ef843e1ba 125 }
edy05 14:076ef843e1ba 126
edy05 8:b5128641d4cf 127
edy05 2:d172c9963f87 128 #endif