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

Committer:
edy05
Date:
Fri Mar 23 14:45:52 2018 +0000
Branch:
DistanceRegulation
Revision:
38:801fee0330e2
Parent:
35:b09e19c855f6
Child:
39:93d8aa47f4ce
goAhead added, not tested

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 26:11539036f0fb 17 Serial pc(USBTX, USBRX); // tx, rx
edy05 26:11539036f0fb 18 PID* _groundDistance;
edy05 27:5956d5e3ff63 19 //RtosTimer *_groudRegulationUpdateTimer;
edy05 26:11539036f0fb 20 HCSR04* _sonic;
edy05 34:5dca557e982f 21 uint32_t _frontDistance;
edy05 26:11539036f0fb 22 PpmRegen* _ppmRegen;
edy05 11:002927b2675d 23
edy05 11:002927b2675d 24 ConfigFile _configFile;
edy05 11:002927b2675d 25 LocalFileSystem local("local");
edy05 2:d172c9963f87 26
edy05 34:5dca557e982f 27 Thread _serverThread;
edy05 34:5dca557e982f 28 Thread _frontSensorThread;
edy05 27:5956d5e3ff63 29 Thread *_distanceThread;
edy05 27:5956d5e3ff63 30
edy05 2:d172c9963f87 31
edy05 2:d172c9963f87 32 InterruptIn* _interruptPort = new InterruptIn(p28);
edy05 2:d172c9963f87 33 PwmOut* _roll = new PwmOut(p21);
edy05 2:d172c9963f87 34 PwmOut* _pitch = new PwmOut(p22);
edy05 2:d172c9963f87 35 PwmOut* _throttle = new PwmOut(p23);
edy05 2:d172c9963f87 36 PwmOut* _yaw = new PwmOut(p24);
edy05 2:d172c9963f87 37 PwmOut* _aux1 = new PwmOut(p25);
edy05 2:d172c9963f87 38 PwmOut* _aux2 = new PwmOut(p26);
edy05 2:d172c9963f87 39
edy05 2:d172c9963f87 40
edy05 9:86a5af9935b1 41 char* _str = new char[1024];
edy05 15:9cdf757269fb 42 char* _serverMessage = new char[1024];
edy05 17:1896d242945b 43 bool _configChanges = false;
edy05 31:5f1737e480f3 44 bool _onlyDistanChanged = false;
edy05 15:9cdf757269fb 45 // zero is default value
edy05 9:86a5af9935b1 46 float _P = 0;
edy05 9:86a5af9935b1 47 float _I = 0;
edy05 9:86a5af9935b1 48 float _D = 0;
edy05 35:b09e19c855f6 49 float _groundSetPoint = 0;
edy05 35:b09e19c855f6 50 float _bias = 0;
edy05 35:b09e19c855f6 51 float _groundPidMinOutput = 0;
edy05 35:b09e19c855f6 52 float _groundPidMaxOutput = 0;
edy05 21:0afb91824792 53 bool _groundRegulation = false;
edy05 31:5f1737e480f3 54 // Temporary values for Server to filter noise
edy05 32:c729e6da7f9a 55 float _newP;
edy05 32:c729e6da7f9a 56 float _newI;
edy05 32:c729e6da7f9a 57 float _newD;
edy05 31:5f1737e480f3 58 bool _tempGroundRegulation = false;
edy05 38:801fee0330e2 59 bool _goAhead = false;
edy05 31:5f1737e480f3 60
edy05 8:b5128641d4cf 61
edy05 11:002927b2675d 62
edy05 11:002927b2675d 63
edy05 11:002927b2675d 64
edy05 10:bb9c778f8e3e 65
edy05 9:86a5af9935b1 66 void loadConfigFile(void){
edy05 9:86a5af9935b1 67 //reading configFile
edy05 9:86a5af9935b1 68 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 69 char value[BUFSIZ];
edy05 25:69190c222dbf 70 if (_configFile.getValue("bias", &value[0], sizeof(value)))
edy05 25:69190c222dbf 71 _bias = atof(value);
edy05 25:69190c222dbf 72 if (_configFile.getValue("groundPidMinOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 73 _groundPidMinOutput = atof(value);
edy05 25:69190c222dbf 74 if (_configFile.getValue("groundPidMaxOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 75 _groundPidMaxOutput = atof(value);
edy05 9:86a5af9935b1 76 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 77 _P = atof(value);
edy05 9:86a5af9935b1 78 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 79 _I = atof(value);
edy05 9:86a5af9935b1 80 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 81 _D = atof(value);
edy05 14:076ef843e1ba 82 if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
edy05 14:076ef843e1ba 83 _groundSetPoint = atof(value);
edy05 9:86a5af9935b1 84
edy05 9:86a5af9935b1 85 }
edy05 9:86a5af9935b1 86
edy05 11:002927b2675d 87 void writeSettingsToConfig(void){
edy05 25:69190c222dbf 88 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 89 if(!_configFile.setValue("bias", _str))
edy05 25:69190c222dbf 90 strcat(_serverMessage, "bias value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 91 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 92 if(!_configFile.setValue("groundPidMinOutput", _str))
edy05 25:69190c222dbf 93 strcat(_serverMessage, "groundPidMinOutput value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 94 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 95 if(!_configFile.setValue("groundPidMaxOutput", _str))
edy05 25:69190c222dbf 96 strcat(_serverMessage, "groundPidMaxOutput value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 97 ConvertToCharArray(_P);
edy05 15:9cdf757269fb 98 if(!_configFile.setValue("P", _str))
edy05 15:9cdf757269fb 99 strcat(_serverMessage, "P value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 100 ConvertToCharArray(_I);
edy05 15:9cdf757269fb 101 if(!_configFile.setValue("I", _str))
edy05 15:9cdf757269fb 102 strcat(_serverMessage, "I value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 103 ConvertToCharArray(_D);
edy05 15:9cdf757269fb 104 if(!_configFile.setValue("D", _str))
edy05 15:9cdf757269fb 105 strcat(_serverMessage, "D value could not be saved to configFile\n\r");
edy05 14:076ef843e1ba 106 ConvertToCharArray(_groundSetPoint);
edy05 15:9cdf757269fb 107 if(!_configFile.setValue("groundSetPoint", _str)){
edy05 15:9cdf757269fb 108 strcat(_serverMessage, "groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 109 pc.printf("groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 110 }
edy05 10:bb9c778f8e3e 111 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 112
edy05 10:bb9c778f8e3e 113 }
edy05 10:bb9c778f8e3e 114
edy05 11:002927b2675d 115
edy05 11:002927b2675d 116 void writeErrorLog(char *message){
edy05 11:002927b2675d 117 FILE *fp = fopen("/local/errorlog.txt", "w");
edy05 11:002927b2675d 118 fprintf(fp, message);
edy05 11:002927b2675d 119 fclose(fp);
edy05 11:002927b2675d 120
edy05 11:002927b2675d 121 }
edy05 11:002927b2675d 122
edy05 11:002927b2675d 123
edy05 9:86a5af9935b1 124 //Converts float to char array
edy05 9:86a5af9935b1 125 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 126 {
edy05 25:69190c222dbf 127 sprintf(_str, "%3.6f", number );
edy05 9:86a5af9935b1 128 }
edy05 8:b5128641d4cf 129
edy05 14:076ef843e1ba 130 //Converts integer to char array
edy05 14:076ef843e1ba 131 void ConvertToCharArray(int number)
edy05 14:076ef843e1ba 132 {
edy05 14:076ef843e1ba 133 sprintf(_str, "%d", number );
edy05 14:076ef843e1ba 134 }
edy05 14:076ef843e1ba 135
edy05 8:b5128641d4cf 136
edy05 2:d172c9963f87 137 #endif