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?
User | Revision | Line number | New 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 |