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@38:801fee0330e2, 2018-03-23 (annotated)

Committer:
edy05
Date:
Fri Mar 23 14:45:52 2018 +0000
Branch:
DistanceRegulation
Revision:
38:801fee0330e2
Parent:
37:76bfd4e9c383
Child:
39:93d8aa47f4ce
goAhead added, not tested

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 38:801fee0330e2 196 if(_goAhead == false) {
edy05 38:801fee0330e2 197 strcat(webbuff, "<p><input type=\"radio\" name=\"goAhead\" value=\"0\" checked> Go ahead OFF");
edy05 38:801fee0330e2 198 strcat(webbuff, "<br><input type=\"radio\" name=\"goAhead\" value=\"1\" > Go ahead ON</br>");
edy05 38:801fee0330e2 199 } else {
edy05 38:801fee0330e2 200 strcat(webbuff, "<p><input type=\"radio\" name=\"goAhead\" value=\"0\" > Go ahead OFF");
edy05 38:801fee0330e2 201 strcat(webbuff, "<br><input type=\"radio\" name=\"goAhead\" value=\"1\" checked> Go ahead ON</br>");
edy05 38:801fee0330e2 202 }
edy05 34:5dca557e982f 203 strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" checked></p>");
edy05 34:5dca557e982f 204 strcat(webbuff, "<p><input type=\"submit\"></p>");
edy05 34:5dca557e982f 205 strcat(webbuff, "</form>");
edy05 2:d172c9963f87 206 strcat(webbuff, "</body></html>");
edy05 2:d172c9963f87 207 // end of WEB page data
edy05 2:d172c9963f87 208 bufl = strlen(webbuff); // get total page buffer length
edy05 2:d172c9963f87 209 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
edy05 34:5dca557e982f 210 pc.printf("%s \n\r", cmdbuff);
edy05 2:d172c9963f87 211 timeout=200;
edy05 2:d172c9963f87 212 getcount=7;
edy05 2:d172c9963f87 213 SendCMD();
edy05 34:5dca557e982f 214 Thread::wait(1000);
edy05 2:d172c9963f87 215 getreply();
edy05 34:5dca557e982f 216 pc.printf("%s \n\r", replybuff);
edy05 2:d172c9963f87 217 SendWEB(); // send web page
edy05 2:d172c9963f87 218 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 219 sendcheck();
edy05 2:d172c9963f87 220
edy05 2:d172c9963f87 221 }
edy05 2:d172c9963f87 222
edy05 2:d172c9963f87 223 void sendcheck(){
edy05 2:d172c9963f87 224 weberror=1;
edy05 33:a2f9fea05cb9 225 timeout= 1000;
edy05 33:a2f9fea05cb9 226 getcount = 50;
edy05 2:d172c9963f87 227 t2.reset();
edy05 2:d172c9963f87 228 t2.start();
edy05 2:d172c9963f87 229 while(weberror==1 && t2.read() <5) {
edy05 2:d172c9963f87 230 getreply();
edy05 2:d172c9963f87 231 if (strstr(replybuff, "SEND OK") != NULL) {
edy05 2:d172c9963f87 232 weberror=0; // wait for valid SEND OK
edy05 2:d172c9963f87 233 }
edy05 2:d172c9963f87 234 }
edy05 2:d172c9963f87 235 if(weberror==1) { // restart connection
edy05 34:5dca557e982f 236 //pc.printf("sendcheck - restarting connection \n\r");
edy05 2:d172c9963f87 237 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
edy05 2:d172c9963f87 238 timeout=500;
edy05 2:d172c9963f87 239 getcount=10;
edy05 2:d172c9963f87 240 SendCMD();
edy05 2:d172c9963f87 241 getreply();
edy05 34:5dca557e982f 242 //pc.printf(replybuff);
edy05 33:a2f9fea05cb9 243 sprintf(cmdbuff,"AT+CIPSERVER=0,%d\r\n", port);
edy05 33:a2f9fea05cb9 244 timeout=500;
edy05 33:a2f9fea05cb9 245 getcount=10;
edy05 33:a2f9fea05cb9 246 SendCMD();
edy05 33:a2f9fea05cb9 247 getreply();
edy05 34:5dca557e982f 248 //pc.printf(replybuff);
edy05 2:d172c9963f87 249 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 250 timeout=500;
edy05 2:d172c9963f87 251 getcount=10;
edy05 2:d172c9963f87 252 SendCMD();
edy05 2:d172c9963f87 253 getreply();
edy05 34:5dca557e982f 254 //pc.printf(replybuff);
edy05 2:d172c9963f87 255 } else {
edy05 34:5dca557e982f 256 //pc.printf("sendcheck ok \n\r");
edy05 2:d172c9963f87 257 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
edy05 2:d172c9963f87 258 SendCMD();
edy05 2:d172c9963f87 259 getreply();
edy05 34:5dca557e982f 260 //pc.printf(replybuff);
edy05 2:d172c9963f87 261 }
edy05 2:d172c9963f87 262 t2.reset();
edy05 2:d172c9963f87 263 }
edy05 2:d172c9963f87 264
edy05 2:d172c9963f87 265 // Large WEB buffer data send
edy05 2:d172c9963f87 266 void SendWEB()
edy05 2:d172c9963f87 267 {
edy05 2:d172c9963f87 268 int i=0;
edy05 2:d172c9963f87 269 if(esp.writeable()) {
edy05 2:d172c9963f87 270 while(webbuff[i]!='\0') {
edy05 2:d172c9963f87 271 esp.putc(webbuff[i]);
edy05 2:d172c9963f87 272 i++;
edy05 2:d172c9963f87 273 }
edy05 2:d172c9963f87 274 }
edy05 2:d172c9963f87 275 }
edy05 2:d172c9963f87 276
edy05 2:d172c9963f87 277 // Reads and processes GET and POST web data
edy05 2:d172c9963f87 278 void ReadWebData(){
edy05 2:d172c9963f87 279 wait_ms(200);
edy05 2:d172c9963f87 280 esp.attach(NULL);
edy05 2:d172c9963f87 281 count=0;
edy05 2:d172c9963f87 282 DataRX=0;
edy05 2:d172c9963f87 283 weberror=0;
edy05 2:d172c9963f87 284 memset(webdata, '\0', sizeof(webdata));
edy05 2:d172c9963f87 285 int x = strcspn (webbuff,"+");
edy05 2:d172c9963f87 286 if(x) {
edy05 2:d172c9963f87 287 strcpy(webdata, webbuff + x);
edy05 34:5dca557e982f 288 //////pc.printf("webdata received: %s", webdata);
edy05 2:d172c9963f87 289 weberror=0;
edy05 2:d172c9963f87 290 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
edy05 2:d172c9963f87 291 if (strstr(webdata, "led1=1") != NULL ) {
edy05 2:d172c9963f87 292 led1=1;
edy05 2:d172c9963f87 293 }
edy05 2:d172c9963f87 294 if (strstr(webdata, "led1=0") != NULL ) {
edy05 2:d172c9963f87 295 led1=0;
edy05 2:d172c9963f87 296 }
edy05 21:0afb91824792 297 //ground regulation
edy05 21:0afb91824792 298 if (strstr(webdata, "groundRegulation=1") != NULL )
edy05 31:5f1737e480f3 299 _tempGroundRegulation = true;
edy05 21:0afb91824792 300 if (strstr(webdata, "groundRegulation=0") != NULL )
edy05 31:5f1737e480f3 301 _tempGroundRegulation = false;
edy05 25:69190c222dbf 302 // pid min Output
edy05 25:69190c222dbf 303 if (strstr(webdata, "groundPidMinOutput") != NULL ){
edy05 34:5dca557e982f 304 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 305 char* p_webdata = strstr(webdata, "groundPidMinOutput");
edy05 25:69190c222dbf 306 p_webdata = p_webdata + strlen("groundPidMinOutput") + 1;
edy05 25:69190c222dbf 307 int i = 0;
edy05 25:69190c222dbf 308 while(*p_webdata != '&'){
edy05 34:5dca557e982f 309 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 310 _str[i] = *p_webdata;
edy05 25:69190c222dbf 311 p_webdata += 1;
edy05 25:69190c222dbf 312 i++;
edy05 25:69190c222dbf 313 }
edy05 34:5dca557e982f 314 ////pc.printf("\n\r");
edy05 25:69190c222dbf 315 _str[i] = '\0';
edy05 34:5dca557e982f 316 //////pc.printf("groundPidMinOutput: %s", _str);
edy05 25:69190c222dbf 317 _groundPidMinOutput = atof(_str);
edy05 34:5dca557e982f 318 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 319 }
edy05 25:69190c222dbf 320 //pid max output
edy05 25:69190c222dbf 321 if (strstr(webdata, "groundPidMaxOutput") != NULL ){
edy05 34:5dca557e982f 322 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 323 char* p_webdata = strstr(webdata, "groundPidMaxOutput");
edy05 25:69190c222dbf 324 p_webdata = p_webdata + strlen("groundPidMaxOutput") + 1;
edy05 25:69190c222dbf 325 int i = 0;
edy05 25:69190c222dbf 326 while(*p_webdata != '&'){
edy05 34:5dca557e982f 327 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 328 _str[i] = *p_webdata;
edy05 25:69190c222dbf 329 p_webdata += 1;
edy05 25:69190c222dbf 330 i++;
edy05 25:69190c222dbf 331 }
edy05 34:5dca557e982f 332 //////pc.printf("\n\r");
edy05 25:69190c222dbf 333 _str[i] = '\0';
edy05 34:5dca557e982f 334 //////pc.printf("groundPidMaxOutput: %s", _str);
edy05 25:69190c222dbf 335 _groundPidMaxOutput = atof(_str);
edy05 34:5dca557e982f 336 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 337 }
edy05 25:69190c222dbf 338 //bias
edy05 25:69190c222dbf 339 if (strstr(webdata, "bias") != NULL ){
edy05 34:5dca557e982f 340 //////pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 341 char* p_webdata = strstr(webdata, "bias");
edy05 25:69190c222dbf 342 p_webdata = p_webdata + strlen("bias") + 1;
edy05 25:69190c222dbf 343 int i = 0;
edy05 25:69190c222dbf 344 while(*p_webdata != '&'){
edy05 34:5dca557e982f 345 ////pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 346 _str[i] = *p_webdata;
edy05 25:69190c222dbf 347 p_webdata += 1;
edy05 25:69190c222dbf 348 i++;
edy05 25:69190c222dbf 349 }
edy05 34:5dca557e982f 350 //////pc.printf("\n\r");
edy05 25:69190c222dbf 351 _str[i] = '\0';
edy05 34:5dca557e982f 352 //////pc.printf("bias: %s", _str);
edy05 25:69190c222dbf 353 _bias = atof(_str);
edy05 34:5dca557e982f 354 //////pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 355 }
edy05 21:0afb91824792 356 // PID values
edy05 2:d172c9963f87 357 if (strstr(webdata, "proportional") != NULL ){
edy05 34:5dca557e982f 358 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 359 char* p_webdata = strstr(webdata, "proportional");
edy05 2:d172c9963f87 360 p_webdata = p_webdata + strlen("proportional") + 1;
edy05 2:d172c9963f87 361 int i = 0;
edy05 2:d172c9963f87 362 while(*p_webdata != '&'){
edy05 34:5dca557e982f 363 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 364 _str[i] = *p_webdata;
edy05 2:d172c9963f87 365 p_webdata += 1;
edy05 2:d172c9963f87 366 i++;
edy05 2:d172c9963f87 367 }
edy05 34:5dca557e982f 368 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 369 _str[i] = '\0';
edy05 34:5dca557e982f 370 //////pc.printf("proportional: %s", _str);
edy05 32:c729e6da7f9a 371 _newP = atof(_str);
edy05 34:5dca557e982f 372 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 373 }
edy05 2:d172c9963f87 374 if (strstr(webdata, "integral") != NULL){
edy05 34:5dca557e982f 375 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 376 char* p_webdata = strstr(webdata, "integral");
edy05 2:d172c9963f87 377 p_webdata = p_webdata + strlen("integral") + 1;
edy05 2:d172c9963f87 378 int i = 0;
edy05 2:d172c9963f87 379 while(*p_webdata != '&'){
edy05 34:5dca557e982f 380 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 381 _str[i] = *p_webdata;
edy05 2:d172c9963f87 382 p_webdata += 1;
edy05 2:d172c9963f87 383 i++;
edy05 2:d172c9963f87 384 }
edy05 34:5dca557e982f 385 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 386 _str[i] = '\0';
edy05 34:5dca557e982f 387 //////pc.printf("integral: %s", _str);
edy05 32:c729e6da7f9a 388 _newI = atof(_str);
edy05 34:5dca557e982f 389 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 390
edy05 2:d172c9963f87 391 }
edy05 2:d172c9963f87 392 if (strstr(webdata, "derivative") != NULL){
edy05 34:5dca557e982f 393 //////pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 394 char* p_webdata = strstr(webdata, "derivative");
edy05 2:d172c9963f87 395 p_webdata = p_webdata + strlen("derivative") + 1;
edy05 2:d172c9963f87 396 int i = 0;
edy05 2:d172c9963f87 397 while(*p_webdata != '&'){
edy05 34:5dca557e982f 398 ////pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 399 _str[i] = *p_webdata;
edy05 2:d172c9963f87 400 p_webdata += 1;
edy05 2:d172c9963f87 401 i++;
edy05 2:d172c9963f87 402 }
edy05 34:5dca557e982f 403 //////pc.printf("\n\r");
edy05 9:86a5af9935b1 404 _str[i] = '\0';
edy05 34:5dca557e982f 405 //////pc.printf("derivative: %s", _str);
edy05 32:c729e6da7f9a 406 _newD = atof(_str);
edy05 34:5dca557e982f 407 //////pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 408 }
edy05 14:076ef843e1ba 409 if (strstr(webdata, "groundSetPoint") != NULL){
edy05 34:5dca557e982f 410 //////pc.printf("\n\r looking for data \n\r");
edy05 14:076ef843e1ba 411 char* p_webdata = strstr(webdata, "groundSetPoint");
edy05 14:076ef843e1ba 412 p_webdata = p_webdata + strlen("groundSetPoint") + 1;
edy05 14:076ef843e1ba 413 int i = 0;
edy05 14:076ef843e1ba 414 while(*p_webdata != '&'){
edy05 34:5dca557e982f 415 ////pc.printf("%c", *p_webdata);
edy05 14:076ef843e1ba 416 _str[i] = *p_webdata;
edy05 14:076ef843e1ba 417 p_webdata += 1;
edy05 14:076ef843e1ba 418 i++;
edy05 14:076ef843e1ba 419 }
edy05 34:5dca557e982f 420 //////pc.printf("\n\r");
edy05 14:076ef843e1ba 421 _str[i] = '\0';
edy05 34:5dca557e982f 422 //////pc.printf("groundSetPoint: %s", _str);
edy05 14:076ef843e1ba 423 _groundSetPoint = atof(_str);
edy05 38:801fee0330e2 424 //////pc.printf("\n\r end of looking for data \n\r");
edy05 14:076ef843e1ba 425 }
edy05 38:801fee0330e2 426 //Go ahead
edy05 38:801fee0330e2 427 if (strstr(webdata, "goAhead=1") != NULL )
edy05 38:801fee0330e2 428 _goAhead = true;
edy05 38:801fee0330e2 429 if (strstr(webdata, "goAhead=0") != NULL )
edy05 38:801fee0330e2 430 _goAhead = false;
edy05 38:801fee0330e2 431 // pid min Output
edy05 2:d172c9963f87 432 sprintf(channel, "%d",linkID);
edy05 2:d172c9963f87 433 if (strstr(webdata, "GET") != NULL) {
edy05 2:d172c9963f87 434 servreq=1;
edy05 2:d172c9963f87 435 }
edy05 2:d172c9963f87 436 if (strstr(webdata, "POST") != NULL) {
edy05 2:d172c9963f87 437 servreq=1;
edy05 2:d172c9963f87 438 }
edy05 2:d172c9963f87 439 webcounter++;
edy05 2:d172c9963f87 440 sprintf(webcount, "%d",webcounter);
edy05 2:d172c9963f87 441 }else{
edy05 2:d172c9963f87 442 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 443 esp.attach(&callback);
edy05 2:d172c9963f87 444 weberror=1;
edy05 2:d172c9963f87 445 }
edy05 2:d172c9963f87 446
edy05 2:d172c9963f87 447 }
edy05 2:d172c9963f87 448
edy05 2:d172c9963f87 449 void startserver(){
edy05 34:5dca557e982f 450 //pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
edy05 2:d172c9963f87 451 strcpy(cmdbuff,"AT+RST\r\n");
edy05 2:d172c9963f87 452 timeout=8000;
edy05 2:d172c9963f87 453 getcount=1000;
edy05 2:d172c9963f87 454 SendCMD();
edy05 2:d172c9963f87 455 getreply();
edy05 34:5dca557e982f 456 //pc.printf(replybuff);
edy05 34:5dca557e982f 457 //pc.printf("%d",count);
edy05 2:d172c9963f87 458 if (strstr(replybuff, "OK") != NULL) {
edy05 34:5dca557e982f 459 //////pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
edy05 2:d172c9963f87 460 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
edy05 2:d172c9963f87 461 timeout=500;
edy05 2:d172c9963f87 462 getcount=20;
edy05 2:d172c9963f87 463 SendCMD();
edy05 2:d172c9963f87 464 getreply();
edy05 34:5dca557e982f 465 //pc.printf(replybuff);
edy05 2:d172c9963f87 466 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 467 timeout=500;
edy05 2:d172c9963f87 468 getcount=20;
edy05 2:d172c9963f87 469 SendCMD();
edy05 2:d172c9963f87 470 getreply();
edy05 34:5dca557e982f 471 //pc.printf(replybuff);
edy05 2:d172c9963f87 472 wait(1);
edy05 2:d172c9963f87 473 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
edy05 2:d172c9963f87 474 timeout=500;
edy05 2:d172c9963f87 475 getcount=50;
edy05 2:d172c9963f87 476 SendCMD();
edy05 2:d172c9963f87 477 getreply();
edy05 34:5dca557e982f 478 //pc.printf(replybuff);
edy05 2:d172c9963f87 479 wait(5);
edy05 34:5dca557e982f 480 //pc.printf("\n Getting Server IP \r\n");
edy05 2:d172c9963f87 481 strcpy(cmdbuff, "AT+CIFSR\r\n");
edy05 2:d172c9963f87 482 timeout=2500;
edy05 2:d172c9963f87 483 getcount=200;
edy05 2:d172c9963f87 484 while(weberror==0) {
edy05 2:d172c9963f87 485 SendCMD();
edy05 2:d172c9963f87 486 getreply();
edy05 2:d172c9963f87 487 if (strstr(replybuff, "0.0.0.0") == NULL) {
edy05 2:d172c9963f87 488 weberror=1; // wait for valid IP
edy05 2:d172c9963f87 489 }
edy05 2:d172c9963f87 490 }
edy05 34:5dca557e982f 491 //pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
edy05 34:5dca557e982f 492 //pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
edy05 2:d172c9963f87 493 replybuff[strlen(replybuff)-1] = '\0';
edy05 2:d172c9963f87 494 //char* IP = replybuff + 5;
edy05 2:d172c9963f87 495 sprintf(webdata,"%s", replybuff);
edy05 2:d172c9963f87 496 //SAVE IP ADDRESS
edy05 2:d172c9963f87 497 get_ip_address(webdata);
edy05 34:5dca557e982f 498 //pc.printf("ip_address: %s\n\r",ip_address);
edy05 34:5dca557e982f 499 //pc.printf(webdata);
edy05 34:5dca557e982f 500 //pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
edy05 2:d172c9963f87 501 esp.attach(&callback);
edy05 2:d172c9963f87 502 } else {
edy05 34:5dca557e982f 503 //pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
edy05 2:d172c9963f87 504 while(1) {}
edy05 2:d172c9963f87 505 }
edy05 2:d172c9963f87 506 t2.reset();
edy05 2:d172c9963f87 507 t2.start();
edy05 2:d172c9963f87 508 }
edy05 2:d172c9963f87 509
edy05 2:d172c9963f87 510 void SendCMD()
edy05 2:d172c9963f87 511 {
edy05 2:d172c9963f87 512 esp.printf("%s", cmdbuff);
edy05 2:d172c9963f87 513 }
edy05 2:d172c9963f87 514
edy05 2:d172c9963f87 515 void getreply()
edy05 2:d172c9963f87 516 {
edy05 2:d172c9963f87 517 memset(replybuff, '\0', sizeof(replybuff));
edy05 2:d172c9963f87 518 t1.reset();
edy05 2:d172c9963f87 519 t1.start();
edy05 2:d172c9963f87 520 replycount=0;
edy05 2:d172c9963f87 521 while(t1.read_ms()< timeout && replycount < getcount) {
edy05 2:d172c9963f87 522 if(esp.readable()) {
edy05 2:d172c9963f87 523 replybuff[replycount] = esp.getc();
edy05 2:d172c9963f87 524 replycount++;
edy05 2:d172c9963f87 525 }
edy05 2:d172c9963f87 526 }
edy05 2:d172c9963f87 527 t1.stop();
edy05 2:d172c9963f87 528 }
edy05 2:d172c9963f87 529
edy05 2:d172c9963f87 530 void get_ip_address(char web_data[1024]){
edy05 2:d172c9963f87 531 char pre_text[] = "+CIFSR:STAIP,\"";
edy05 2:d172c9963f87 532 char* p_text = strstr(webdata, pre_text);
edy05 2:d172c9963f87 533 p_text = p_text+strlen(pre_text);
edy05 2:d172c9963f87 534 char* p_text2 = strstr(p_text, "\"");
edy05 2:d172c9963f87 535 for(int i = 0;;i++){
edy05 2:d172c9963f87 536 if(*(p_text+i) == *p_text2){
edy05 2:d172c9963f87 537 ip_address[i] = '\0';
edy05 2:d172c9963f87 538 break;
edy05 2:d172c9963f87 539 }
edy05 2:d172c9963f87 540 ip_address[i] = *(p_text+i);
edy05 2:d172c9963f87 541
edy05 2:d172c9963f87 542 }
edy05 2:d172c9963f87 543 }