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@37:76bfd4e9c383, 2018-03-23 (annotated)

Committer:
edy05
Date:
Fri Mar 23 14:29:09 2018 +0000
Branch:
DistanceRegulation
Revision:
37:76bfd4e9c383
Parent:
34:5dca557e982f
Child:
38:801fee0330e2
esp8266 - ch_pd removed from DB and pinned to board

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 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 37:76bfd4e9c383 63 chd_dp = 1;
edy05 2:d172c9963f87 64 reset=0;
edy05 25:69190c222dbf 65
edy05 34:5dca557e982f 66 //pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
edy05 37:76bfd4e9c383 67 wait(0.5);
edy05 2:d172c9963f87 68 reset=1;
edy05 2:d172c9963f87 69 timeout=6000;
edy05 2:d172c9963f87 70 getcount=500;
edy05 2:d172c9963f87 71 getreply();
edy05 37:76bfd4e9c383 72 //Thread::wait(3000);
edy05 37:76bfd4e9c383 73 //reset = 1;
edy05 37:76bfd4e9c383 74 //Thread::wait(3000);
edy05 2:d172c9963f87 75 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
edy05 2:d172c9963f87 76 startserver();
edy05 26:11539036f0fb 77 webcounter = 0;
edy05 31:5f1737e480f3 78 Timer timer;
edy05 34:5dca557e982f 79 bool pageWasSent = false;
edy05 2:d172c9963f87 80 while(1){
edy05 2:d172c9963f87 81 if(DataRX==1) {
edy05 31:5f1737e480f3 82 timer.reset();
edy05 31:5f1737e480f3 83 timer.start();
edy05 2:d172c9963f87 84 ReadWebData();
edy05 11:002927b2675d 85 // Save data to configFile
edy05 31:5f1737e480f3 86 //writeSettingsToConfig();
edy05 34:5dca557e982f 87 if ((servreq == 1 && weberror == 0) && pageWasSent == false) {
edy05 34:5dca557e982f 88 //////pc.printf("Send page \n\r");
edy05 10:bb9c778f8e3e 89 // send HTTP Response
edy05 2:d172c9963f87 90 sendpage();
edy05 34:5dca557e982f 91 pageWasSent = true;
edy05 31:5f1737e480f3 92
edy05 2:d172c9963f87 93 }
edy05 32:c729e6da7f9a 94 else{
edy05 34:5dca557e982f 95 ////pc.printf("Page was not sent \n\r");
edy05 32:c729e6da7f9a 96 }
edy05 2:d172c9963f87 97 esp.attach(&callback);
edy05 34:5dca557e982f 98 ////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 99 ////pc.printf("HTTP Packet: \n\n%s", webdata);
edy05 34:5dca557e982f 100 ////pc.printf("Web Characters sent : %d\n\n", bufl);
edy05 34:5dca557e982f 101 ////pc.printf("-------------------------------------\n\n");
edy05 2:d172c9963f87 102 servreq=0;
edy05 15:9cdf757269fb 103 memset(_serverMessage, '\0', sizeof(_serverMessage));
edy05 2:d172c9963f87 104 }
edy05 34:5dca557e982f 105 if(timer.read_ms() > 3000){
edy05 34:5dca557e982f 106 pageWasSent = false;
edy05 34:5dca557e982f 107 ////pc.printf("starting reading new configuration in server task\n\r");
edy05 31:5f1737e480f3 108 // when stop sending answers
edy05 31:5f1737e480f3 109 timer.stop();
edy05 31:5f1737e480f3 110 timer.reset();
edy05 32:c729e6da7f9a 111 if(_newP == _P && _newI == _I && _newD == _D){
edy05 31:5f1737e480f3 112 _onlyDistanChanged = true;
edy05 31:5f1737e480f3 113 }
edy05 32:c729e6da7f9a 114 _P = _newP;
edy05 32:c729e6da7f9a 115 _I = _newI;
edy05 32:c729e6da7f9a 116 _D = _newD;
edy05 31:5f1737e480f3 117 // Save data to configFile
edy05 31:5f1737e480f3 118 writeSettingsToConfig();
edy05 31:5f1737e480f3 119 // notification that config of pid was changed
edy05 31:5f1737e480f3 120 _configChanges = true;
edy05 31:5f1737e480f3 121 // start or stop ground regulation
edy05 31:5f1737e480f3 122 //_groundRegulation = _tempGroundRegulation;
edy05 31:5f1737e480f3 123 if(_groundRegulation != _tempGroundRegulation){
edy05 31:5f1737e480f3 124 _groundRegulation = _tempGroundRegulation;
edy05 31:5f1737e480f3 125 _groundDistance->resetError();
edy05 31:5f1737e480f3 126 }
edy05 31:5f1737e480f3 127
edy05 31:5f1737e480f3 128 }
edy05 31:5f1737e480f3 129
edy05 34:5dca557e982f 130 Thread::wait(100);
edy05 2:d172c9963f87 131 }
edy05 2:d172c9963f87 132 }
edy05 2:d172c9963f87 133
edy05 2:d172c9963f87 134
edy05 2:d172c9963f87 135 // Static WEB page
edy05 2:d172c9963f87 136 void sendpage(){
edy05 2:d172c9963f87 137 strcpy(webbuff, "<!DOCTYPE html>");
edy05 2:d172c9963f87 138 strcat(webbuff, "<html><head><title>ESP8266 Mbed LPC1768</title></head>");
edy05 2:d172c9963f87 139 strcat(webbuff, "<body>");
edy05 34:5dca557e982f 140 //strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web PID Controller</h1>");
edy05 34:5dca557e982f 141 //strcat(webbuff, "Hit Count - ");
edy05 34:5dca557e982f 142 //strcat(webbuff, webcount);
edy05 34:5dca557e982f 143 //strcat(webbuff, "</div><br /><hr>");
edy05 15:9cdf757269fb 144 //server message (mostly errors)
edy05 34:5dca557e982f 145 //strcat(webbuff, "<div stye=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h3>Server messages</h3>");
edy05 34:5dca557e982f 146 //strcat(webbuff, _serverMessage);
edy05 34:5dca557e982f 147 //strcat(webbuff, "</div><br><hr>");
edy05 34:5dca557e982f 148 strcat(webbuff, "<form method=\"POST\">");
edy05 34:5dca557e982f 149 //if(led1==0) {
edy05 34:5dca557e982f 150 // strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked> LED 1 off");
edy05 34:5dca557e982f 151 // strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" > LED 1 on<br>");
edy05 34:5dca557e982f 152 //} else {
edy05 34:5dca557e982f 153 // strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" > LED 1 off");
edy05 34:5dca557e982f 154 // strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked> LED 1 on<br>");
edy05 34:5dca557e982f 155 //}
edy05 21:0afb91824792 156 // ground regulation
edy05 31:5f1737e480f3 157 if(_tempGroundRegulation) {
edy05 21:0afb91824792 158 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" checked> Ground regulation ON");
edy05 21:0afb91824792 159 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" > Ground regulation OFF<br>");
edy05 21:0afb91824792 160 } else {
edy05 21:0afb91824792 161 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" > Ground regulation ON");
edy05 25:69190c222dbf 162 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" checked> Ground regulation OFF<br>");
edy05 21:0afb91824792 163 }
edy05 25:69190c222dbf 164 // pid ground min output
edy05 25:69190c222dbf 165 strcat(webbuff, "pid min Output: <input type=\"text\" name=\"groundPidMinOutput\" size=6 value=\"");
edy05 25:69190c222dbf 166 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 167 strcat(webbuff, _str);
edy05 25:69190c222dbf 168 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 169 //pid ground max output
edy05 25:69190c222dbf 170 strcat(webbuff, "pid max Output: <input type=\"text\" name=\"groundPidMaxOutput\" size=6 value=\"");
edy05 25:69190c222dbf 171 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 172 strcat(webbuff, _str);
edy05 25:69190c222dbf 173 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 174 //ground regulation bias
edy05 25:69190c222dbf 175 strcat(webbuff, "Bias: <input type=\"text\" name=\"bias\" size=6 value=\"");
edy05 25:69190c222dbf 176 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 177 strcat(webbuff, _str);
edy05 25:69190c222dbf 178 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 179 strcat(webbuff, "P: <input type=\"text\" name=\"proportional\" size=6 value=\"");
edy05 32:c729e6da7f9a 180 ConvertToCharArray(_newP);
edy05 9:86a5af9935b1 181 strcat(webbuff, _str);
edy05 2:d172c9963f87 182 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 183 strcat(webbuff, "I: <input type=\"text\" name=\"integral\" size=6 value=\"");
edy05 32:c729e6da7f9a 184 ConvertToCharArray(_newI);
edy05 9:86a5af9935b1 185 strcat(webbuff, _str);
edy05 2:d172c9963f87 186 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 187 strcat(webbuff, "D: <input type=\"text\" name=\"derivative\" size=6 value=\"");
edy05 32:c729e6da7f9a 188 ConvertToCharArray(_newD);
edy05 9:86a5af9935b1 189 strcat(webbuff, _str);
edy05 2:d172c9963f87 190 strcat(webbuff, "\"><br>");
edy05 14:076ef843e1ba 191 //Ground set Point
edy05 14:076ef843e1ba 192 strcat(webbuff, "Ground setPoint: <input type=\"text\" name=\"groundSetPoint\" size=6 value=\"");
edy05 14:076ef843e1ba 193 ConvertToCharArray(_groundSetPoint);
edy05 14:076ef843e1ba 194 strcat(webbuff, _str);
edy05 14:076ef843e1ba 195 strcat(webbuff, "\"><br>");
edy05 34:5dca557e982f 196 strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" checked></p>");
edy05 34:5dca557e982f 197 strcat(webbuff, "<p><input type=\"submit\"></p>");
edy05 34:5dca557e982f 198 strcat(webbuff, "</form>");
edy05 2:d172c9963f87 199 strcat(webbuff, "</body></html>");
edy05 2:d172c9963f87 200 // end of WEB page data
edy05 2:d172c9963f87 201 bufl = strlen(webbuff); // get total page buffer length
edy05 2:d172c9963f87 202 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
edy05 34:5dca557e982f 203 pc.printf("%s \n\r", cmdbuff);
edy05 2:d172c9963f87 204 timeout=200;
edy05 2:d172c9963f87 205 getcount=7;
edy05 2:d172c9963f87 206 SendCMD();
edy05 34:5dca557e982f 207 Thread::wait(1000);
edy05 2:d172c9963f87 208 getreply();
edy05 34:5dca557e982f 209 pc.printf("%s \n\r", replybuff);
edy05 2:d172c9963f87 210 SendWEB(); // send web page
edy05 2:d172c9963f87 211 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 212 sendcheck();
edy05 2:d172c9963f87 213
edy05 2:d172c9963f87 214 }
edy05 2:d172c9963f87 215
edy05 2:d172c9963f87 216 void sendcheck(){
edy05 2:d172c9963f87 217 weberror=1;
edy05 33:a2f9fea05cb9 218 timeout= 1000;
edy05 33:a2f9fea05cb9 219 getcount = 50;
edy05 2:d172c9963f87 220 t2.reset();
edy05 2:d172c9963f87 221 t2.start();
edy05 2:d172c9963f87 222 while(weberror==1 && t2.read() <5) {
edy05 2:d172c9963f87 223 getreply();
edy05 2:d172c9963f87 224 if (strstr(replybuff, "SEND OK") != NULL) {
edy05 2:d172c9963f87 225 weberror=0; // wait for valid SEND OK
edy05 2:d172c9963f87 226 }
edy05 2:d172c9963f87 227 }
edy05 2:d172c9963f87 228 if(weberror==1) { // restart connection
edy05 34:5dca557e982f 229 //pc.printf("sendcheck - restarting connection \n\r");
edy05 2:d172c9963f87 230 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
edy05 2:d172c9963f87 231 timeout=500;
edy05 2:d172c9963f87 232 getcount=10;
edy05 2:d172c9963f87 233 SendCMD();
edy05 2:d172c9963f87 234 getreply();
edy05 34:5dca557e982f 235 //pc.printf(replybuff);
edy05 33:a2f9fea05cb9 236 sprintf(cmdbuff,"AT+CIPSERVER=0,%d\r\n", port);
edy05 33:a2f9fea05cb9 237 timeout=500;
edy05 33:a2f9fea05cb9 238 getcount=10;
edy05 33:a2f9fea05cb9 239 SendCMD();
edy05 33:a2f9fea05cb9 240 getreply();
edy05 34:5dca557e982f 241 //pc.printf(replybuff);
edy05 2:d172c9963f87 242 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 243 timeout=500;
edy05 2:d172c9963f87 244 getcount=10;
edy05 2:d172c9963f87 245 SendCMD();
edy05 2:d172c9963f87 246 getreply();
edy05 34:5dca557e982f 247 //pc.printf(replybuff);
edy05 2:d172c9963f87 248 } else {
edy05 34:5dca557e982f 249 //pc.printf("sendcheck ok \n\r");
edy05 2:d172c9963f87 250 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
edy05 2:d172c9963f87 251 SendCMD();
edy05 2:d172c9963f87 252 getreply();
edy05 34:5dca557e982f 253 //pc.printf(replybuff);
edy05 2:d172c9963f87 254 }
edy05 2:d172c9963f87 255 t2.reset();
edy05 2:d172c9963f87 256 }
edy05 2:d172c9963f87 257
edy05 2:d172c9963f87 258 // Large WEB buffer data send
edy05 2:d172c9963f87 259 void SendWEB()
edy05 2:d172c9963f87 260 {
edy05 2:d172c9963f87 261 int i=0;
edy05 2:d172c9963f87 262 if(esp.writeable()) {
edy05 2:d172c9963f87 263 while(webbuff[i]!='\0') {
edy05 2:d172c9963f87 264 esp.putc(webbuff[i]);
edy05 2:d172c9963f87 265 i++;
edy05 2:d172c9963f87 266 }
edy05 2:d172c9963f87 267 }
edy05 2:d172c9963f87 268 }
edy05 2:d172c9963f87 269
edy05 2:d172c9963f87 270 // Reads and processes GET and POST web data
edy05 2:d172c9963f87 271 void ReadWebData(){
edy05 2:d172c9963f87 272 wait_ms(200);
edy05 2:d172c9963f87 273 esp.attach(NULL);
edy05 2:d172c9963f87 274 count=0;
edy05 2:d172c9963f87 275 DataRX=0;
edy05 2:d172c9963f87 276 weberror=0;
edy05 2:d172c9963f87 277 memset(webdata, '\0', sizeof(webdata));
edy05 2:d172c9963f87 278 int x = strcspn (webbuff,"+");
edy05 2:d172c9963f87 279 if(x) {
edy05 2:d172c9963f87 280 strcpy(webdata, webbuff + x);
edy05 34:5dca557e982f 281 //////pc.printf("webdata received: %s", webdata);
edy05 2:d172c9963f87 282 weberror=0;
edy05 2:d172c9963f87 283 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
edy05 2:d172c9963f87 284 if (strstr(webdata, "led1=1") != NULL ) {
edy05 2:d172c9963f87 285 led1=1;
edy05 2:d172c9963f87 286 }
edy05 2:d172c9963f87 287 if (strstr(webdata, "led1=0") != NULL ) {
edy05 2:d172c9963f87 288 led1=0;
edy05 2:d172c9963f87 289 }
edy05 21:0afb91824792 290 //ground regulation
edy05 21:0afb91824792 291 if (strstr(webdata, "groundRegulation=1") != NULL )
edy05 31:5f1737e480f3 292 _tempGroundRegulation = true;
edy05 21:0afb91824792 293 if (strstr(webdata, "groundRegulation=0") != NULL )
edy05 31:5f1737e480f3 294 _tempGroundRegulation = false;
edy05 25:69190c222dbf 295 // pid min Output
edy05 25:69190c222dbf 296 if (strstr(webdata, "groundPidMinOutput") != NULL ){
edy05 34:5dca557e982f 297 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 298 char* p_webdata = strstr(webdata, "groundPidMinOutput");
edy05 25:69190c222dbf 299 p_webdata = p_webdata + strlen("groundPidMinOutput") + 1;
edy05 25:69190c222dbf 300 int i = 0;
edy05 25:69190c222dbf 301 while(*p_webdata != '&'){
edy05 34:5dca557e982f 302 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 303 _str[i] = *p_webdata;
edy05 25:69190c222dbf 304 p_webdata += 1;
edy05 25:69190c222dbf 305 i++;
edy05 25:69190c222dbf 306 }
edy05 34:5dca557e982f 307 ////pc.printf("\n\r");
edy05 25:69190c222dbf 308 _str[i] = '\0';
edy05 34:5dca557e982f 309 //////pc.printf("groundPidMinOutput: %s", _str);
edy05 25:69190c222dbf 310 _groundPidMinOutput = atof(_str);
edy05 34:5dca557e982f 311 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 312 }
edy05 25:69190c222dbf 313 //pid max output
edy05 25:69190c222dbf 314 if (strstr(webdata, "groundPidMaxOutput") != NULL ){
edy05 34:5dca557e982f 315 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 316 char* p_webdata = strstr(webdata, "groundPidMaxOutput");
edy05 25:69190c222dbf 317 p_webdata = p_webdata + strlen("groundPidMaxOutput") + 1;
edy05 25:69190c222dbf 318 int i = 0;
edy05 25:69190c222dbf 319 while(*p_webdata != '&'){
edy05 34:5dca557e982f 320 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 321 _str[i] = *p_webdata;
edy05 25:69190c222dbf 322 p_webdata += 1;
edy05 25:69190c222dbf 323 i++;
edy05 25:69190c222dbf 324 }
edy05 34:5dca557e982f 325 //////pc.printf("\n\r");
edy05 25:69190c222dbf 326 _str[i] = '\0';
edy05 34:5dca557e982f 327 //////pc.printf("groundPidMaxOutput: %s", _str);
edy05 25:69190c222dbf 328 _groundPidMaxOutput = atof(_str);
edy05 34:5dca557e982f 329 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 330 }
edy05 25:69190c222dbf 331 //bias
edy05 25:69190c222dbf 332 if (strstr(webdata, "bias") != NULL ){
edy05 34:5dca557e982f 333 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 334 char* p_webdata = strstr(webdata, "bias");
edy05 25:69190c222dbf 335 p_webdata = p_webdata + strlen("bias") + 1;
edy05 25:69190c222dbf 336 int i = 0;
edy05 25:69190c222dbf 337 while(*p_webdata != '&'){
edy05 34:5dca557e982f 338 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 339 _str[i] = *p_webdata;
edy05 25:69190c222dbf 340 p_webdata += 1;
edy05 25:69190c222dbf 341 i++;
edy05 25:69190c222dbf 342 }
edy05 34:5dca557e982f 343 //////pc.printf("\n\r");
edy05 25:69190c222dbf 344 _str[i] = '\0';
edy05 34:5dca557e982f 345 //////pc.printf("bias: %s", _str);
edy05 25:69190c222dbf 346 _bias = atof(_str);
edy05 34:5dca557e982f 347 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 348 }
edy05 21:0afb91824792 349 // PID values
edy05 2:d172c9963f87 350 if (strstr(webdata, "proportional") != NULL ){
edy05 34:5dca557e982f 351 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 352 char* p_webdata = strstr(webdata, "proportional");
edy05 2:d172c9963f87 353 p_webdata = p_webdata + strlen("proportional") + 1;
edy05 2:d172c9963f87 354 int i = 0;
edy05 2:d172c9963f87 355 while(*p_webdata != '&'){
edy05 34:5dca557e982f 356 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 357 _str[i] = *p_webdata;
edy05 2:d172c9963f87 358 p_webdata += 1;
edy05 2:d172c9963f87 359 i++;
edy05 2:d172c9963f87 360 }
edy05 34:5dca557e982f 361 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 362 _str[i] = '\0';
edy05 34:5dca557e982f 363 //////pc.printf("proportional: %s", _str);
edy05 32:c729e6da7f9a 364 _newP = atof(_str);
edy05 34:5dca557e982f 365 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 366 }
edy05 2:d172c9963f87 367 if (strstr(webdata, "integral") != NULL){
edy05 34:5dca557e982f 368 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 369 char* p_webdata = strstr(webdata, "integral");
edy05 2:d172c9963f87 370 p_webdata = p_webdata + strlen("integral") + 1;
edy05 2:d172c9963f87 371 int i = 0;
edy05 2:d172c9963f87 372 while(*p_webdata != '&'){
edy05 34:5dca557e982f 373 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 374 _str[i] = *p_webdata;
edy05 2:d172c9963f87 375 p_webdata += 1;
edy05 2:d172c9963f87 376 i++;
edy05 2:d172c9963f87 377 }
edy05 34:5dca557e982f 378 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 379 _str[i] = '\0';
edy05 34:5dca557e982f 380 //////pc.printf("integral: %s", _str);
edy05 32:c729e6da7f9a 381 _newI = atof(_str);
edy05 34:5dca557e982f 382 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 383
edy05 2:d172c9963f87 384 }
edy05 2:d172c9963f87 385 if (strstr(webdata, "derivative") != NULL){
edy05 34:5dca557e982f 386 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 387 char* p_webdata = strstr(webdata, "derivative");
edy05 2:d172c9963f87 388 p_webdata = p_webdata + strlen("derivative") + 1;
edy05 2:d172c9963f87 389 int i = 0;
edy05 2:d172c9963f87 390 while(*p_webdata != '&'){
edy05 34:5dca557e982f 391 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 392 _str[i] = *p_webdata;
edy05 2:d172c9963f87 393 p_webdata += 1;
edy05 2:d172c9963f87 394 i++;
edy05 2:d172c9963f87 395 }
edy05 34:5dca557e982f 396 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 397 _str[i] = '\0';
edy05 34:5dca557e982f 398 //////pc.printf("derivative: %s", _str);
edy05 32:c729e6da7f9a 399 _newD = atof(_str);
edy05 34:5dca557e982f 400 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 401 }
edy05 14:076ef843e1ba 402 if (strstr(webdata, "groundSetPoint") != NULL){
edy05 34:5dca557e982f 403 //////pc.printf("\n\r looking for data \n\r");
edy05 14:076ef843e1ba 404 char* p_webdata = strstr(webdata, "groundSetPoint");
edy05 14:076ef843e1ba 405 p_webdata = p_webdata + strlen("groundSetPoint") + 1;
edy05 14:076ef843e1ba 406 int i = 0;
edy05 14:076ef843e1ba 407 while(*p_webdata != '&'){
edy05 34:5dca557e982f 408 ////pc.printf("%c", *p_webdata);
edy05 14:076ef843e1ba 409 _str[i] = *p_webdata;
edy05 14:076ef843e1ba 410 p_webdata += 1;
edy05 14:076ef843e1ba 411 i++;
edy05 14:076ef843e1ba 412 }
edy05 34:5dca557e982f 413 //////pc.printf("\n\r");
edy05 14:076ef843e1ba 414 _str[i] = '\0';
edy05 34:5dca557e982f 415 //////pc.printf("groundSetPoint: %s", _str);
edy05 14:076ef843e1ba 416 _groundSetPoint = atof(_str);
edy05 34:5dca557e982f 417 //////pc.printf("\n\r end of looking for data \n\r");
edy05 14:076ef843e1ba 418 }
edy05 2:d172c9963f87 419 sprintf(channel, "%d",linkID);
edy05 2:d172c9963f87 420 if (strstr(webdata, "GET") != NULL) {
edy05 2:d172c9963f87 421 servreq=1;
edy05 2:d172c9963f87 422 }
edy05 2:d172c9963f87 423 if (strstr(webdata, "POST") != NULL) {
edy05 2:d172c9963f87 424 servreq=1;
edy05 2:d172c9963f87 425 }
edy05 2:d172c9963f87 426 webcounter++;
edy05 2:d172c9963f87 427 sprintf(webcount, "%d",webcounter);
edy05 2:d172c9963f87 428 }else{
edy05 2:d172c9963f87 429 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 430 esp.attach(&callback);
edy05 2:d172c9963f87 431 weberror=1;
edy05 2:d172c9963f87 432 }
edy05 2:d172c9963f87 433
edy05 2:d172c9963f87 434 }
edy05 2:d172c9963f87 435
edy05 2:d172c9963f87 436 void startserver(){
edy05 34:5dca557e982f 437 //pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
edy05 2:d172c9963f87 438 strcpy(cmdbuff,"AT+RST\r\n");
edy05 2:d172c9963f87 439 timeout=8000;
edy05 2:d172c9963f87 440 getcount=1000;
edy05 2:d172c9963f87 441 SendCMD();
edy05 2:d172c9963f87 442 getreply();
edy05 34:5dca557e982f 443 //pc.printf(replybuff);
edy05 34:5dca557e982f 444 //pc.printf("%d",count);
edy05 2:d172c9963f87 445 if (strstr(replybuff, "OK") != NULL) {
edy05 34:5dca557e982f 446 //////pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
edy05 2:d172c9963f87 447 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
edy05 2:d172c9963f87 448 timeout=500;
edy05 2:d172c9963f87 449 getcount=20;
edy05 2:d172c9963f87 450 SendCMD();
edy05 2:d172c9963f87 451 getreply();
edy05 34:5dca557e982f 452 //pc.printf(replybuff);
edy05 2:d172c9963f87 453 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 454 timeout=500;
edy05 2:d172c9963f87 455 getcount=20;
edy05 2:d172c9963f87 456 SendCMD();
edy05 2:d172c9963f87 457 getreply();
edy05 34:5dca557e982f 458 //pc.printf(replybuff);
edy05 2:d172c9963f87 459 wait(1);
edy05 2:d172c9963f87 460 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
edy05 2:d172c9963f87 461 timeout=500;
edy05 2:d172c9963f87 462 getcount=50;
edy05 2:d172c9963f87 463 SendCMD();
edy05 2:d172c9963f87 464 getreply();
edy05 34:5dca557e982f 465 //pc.printf(replybuff);
edy05 2:d172c9963f87 466 wait(5);
edy05 34:5dca557e982f 467 //pc.printf("\n Getting Server IP \r\n");
edy05 2:d172c9963f87 468 strcpy(cmdbuff, "AT+CIFSR\r\n");
edy05 2:d172c9963f87 469 timeout=2500;
edy05 2:d172c9963f87 470 getcount=200;
edy05 2:d172c9963f87 471 while(weberror==0) {
edy05 2:d172c9963f87 472 SendCMD();
edy05 2:d172c9963f87 473 getreply();
edy05 2:d172c9963f87 474 if (strstr(replybuff, "0.0.0.0") == NULL) {
edy05 2:d172c9963f87 475 weberror=1; // wait for valid IP
edy05 2:d172c9963f87 476 }
edy05 2:d172c9963f87 477 }
edy05 34:5dca557e982f 478 //pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
edy05 34:5dca557e982f 479 //pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
edy05 2:d172c9963f87 480 replybuff[strlen(replybuff)-1] = '\0';
edy05 2:d172c9963f87 481 //char* IP = replybuff + 5;
edy05 2:d172c9963f87 482 sprintf(webdata,"%s", replybuff);
edy05 2:d172c9963f87 483 //SAVE IP ADDRESS
edy05 2:d172c9963f87 484 get_ip_address(webdata);
edy05 34:5dca557e982f 485 //pc.printf("ip_address: %s\n\r",ip_address);
edy05 34:5dca557e982f 486 //pc.printf(webdata);
edy05 34:5dca557e982f 487 //pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
edy05 2:d172c9963f87 488 esp.attach(&callback);
edy05 2:d172c9963f87 489 } else {
edy05 34:5dca557e982f 490 //pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
edy05 2:d172c9963f87 491 while(1) {}
edy05 2:d172c9963f87 492 }
edy05 2:d172c9963f87 493 t2.reset();
edy05 2:d172c9963f87 494 t2.start();
edy05 2:d172c9963f87 495 }
edy05 2:d172c9963f87 496
edy05 2:d172c9963f87 497 void SendCMD()
edy05 2:d172c9963f87 498 {
edy05 2:d172c9963f87 499 esp.printf("%s", cmdbuff);
edy05 2:d172c9963f87 500 }
edy05 2:d172c9963f87 501
edy05 2:d172c9963f87 502 void getreply()
edy05 2:d172c9963f87 503 {
edy05 2:d172c9963f87 504 memset(replybuff, '\0', sizeof(replybuff));
edy05 2:d172c9963f87 505 t1.reset();
edy05 2:d172c9963f87 506 t1.start();
edy05 2:d172c9963f87 507 replycount=0;
edy05 2:d172c9963f87 508 while(t1.read_ms()< timeout && replycount < getcount) {
edy05 2:d172c9963f87 509 if(esp.readable()) {
edy05 2:d172c9963f87 510 replybuff[replycount] = esp.getc();
edy05 2:d172c9963f87 511 replycount++;
edy05 2:d172c9963f87 512 }
edy05 2:d172c9963f87 513 }
edy05 2:d172c9963f87 514 t1.stop();
edy05 2:d172c9963f87 515 }
edy05 2:d172c9963f87 516
edy05 2:d172c9963f87 517 void get_ip_address(char web_data[1024]){
edy05 2:d172c9963f87 518 char pre_text[] = "+CIFSR:STAIP,\"";
edy05 2:d172c9963f87 519 char* p_text = strstr(webdata, pre_text);
edy05 2:d172c9963f87 520 p_text = p_text+strlen(pre_text);
edy05 2:d172c9963f87 521 char* p_text2 = strstr(p_text, "\"");
edy05 2:d172c9963f87 522 for(int i = 0;;i++){
edy05 2:d172c9963f87 523 if(*(p_text+i) == *p_text2){
edy05 2:d172c9963f87 524 ip_address[i] = '\0';
edy05 2:d172c9963f87 525 break;
edy05 2:d172c9963f87 526 }
edy05 2:d172c9963f87 527 ip_address[i] = *(p_text+i);
edy05 2:d172c9963f87 528
edy05 2:d172c9963f87 529 }
edy05 2:d172c9963f87 530 }