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@33:a2f9fea05cb9, 2018-02-18 (annotated)

Committer:
edy05
Date:
Sun Feb 18 17:10:48 2018 +0000
Branch:
DistanceRegulation
Revision:
33:a2f9fea05cb9
Parent:
32:c729e6da7f9a
Child:
34:5dca557e982f
stable Rel1

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 2:d172c9963f87 8
edy05 2:d172c9963f87 9 // Standard Mbed LED definitions
edy05 2:d172c9963f87 10 DigitalOut led1(LED1); // (PTB18)
edy05 2:d172c9963f87 11 DigitalOut led3(LED3); // (PTD1)
edy05 2:d172c9963f87 12
edy05 2:d172c9963f87 13 Timer t1;
edy05 2:d172c9963f87 14 Timer t2;
edy05 2:d172c9963f87 15
edy05 2:d172c9963f87 16 char cmdbuff[32];
edy05 2:d172c9963f87 17 char replybuff[1024];
edy05 2:d172c9963f87 18 char webcount[8];
edy05 2:d172c9963f87 19 char webdata[1024]; // This may need to be bigger depending on WEB browser used
edy05 2:d172c9963f87 20 char webbuff[4096]; // Currently using 1986 characters, Increase this if more web page data added
edy05 2:d172c9963f87 21 char type[16];
edy05 2:d172c9963f87 22 char channel[2];
edy05 2:d172c9963f87 23 char ip_address[20];
edy05 2:d172c9963f87 24 int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
edy05 2:d172c9963f87 25 int bufl, ipdLen, linkID, weberror, webcounter;
edy05 2:d172c9963f87 26
edy05 2:d172c9963f87 27 void getreply(); void SendCMD();
edy05 2:d172c9963f87 28 void startserver();
edy05 2:d172c9963f87 29 void ReadWebData();
edy05 2:d172c9963f87 30 void sendpage();
edy05 2:d172c9963f87 31 void sendcheck();
edy05 2:d172c9963f87 32 void get_ip_address(char web_data[1024]);
edy05 2:d172c9963f87 33 void SendWEB();
edy05 2:d172c9963f87 34
edy05 2:d172c9963f87 35 void serverRun();
edy05 2:d172c9963f87 36 void serverMain();
edy05 2:d172c9963f87 37 void serverLoop();
edy05 2:d172c9963f87 38 void callback();
edy05 2:d172c9963f87 39
edy05 33:a2f9fea05cb9 40 int port = 80; // set server port
edy05 33:a2f9fea05cb9 41 int SERVtimeout = 8; // set server timeout in seconds in case link breaks.
edy05 2:d172c9963f87 42
edy05 9:86a5af9935b1 43
edy05 2:d172c9963f87 44
edy05 2:d172c9963f87 45 //serverThread.start(serverRun);
edy05 2:d172c9963f87 46
edy05 2:d172c9963f87 47 void callback(){
edy05 2:d172c9963f87 48 //pc.printf("callback!!!!!!!!!!!!!!!!_________________________\n\r");
edy05 2:d172c9963f87 49 led3 = 1;
edy05 2:d172c9963f87 50 while (esp.readable()) {
edy05 2:d172c9963f87 51 webbuff[count] = esp.getc();
edy05 2:d172c9963f87 52 count++;
edy05 2:d172c9963f87 53 }
edy05 2:d172c9963f87 54 if(strlen(webbuff)>bufflen) {
edy05 2:d172c9963f87 55 DataRX=1;
edy05 2:d172c9963f87 56 led3=0;
edy05 2:d172c9963f87 57 }
edy05 2:d172c9963f87 58 }
edy05 2:d172c9963f87 59
edy05 2:d172c9963f87 60
edy05 2:d172c9963f87 61 void serverRun(){
edy05 2:d172c9963f87 62 reset=0;
edy05 25:69190c222dbf 63
edy05 2:d172c9963f87 64 pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
edy05 27:5956d5e3ff63 65 //wait(0.5);
edy05 2:d172c9963f87 66 reset=1;
edy05 2:d172c9963f87 67 timeout=6000;
edy05 2:d172c9963f87 68 getcount=500;
edy05 2:d172c9963f87 69 getreply();
edy05 2:d172c9963f87 70 esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
edy05 2:d172c9963f87 71 startserver();
edy05 26:11539036f0fb 72 webcounter = 0;
edy05 31:5f1737e480f3 73 Timer timer;
edy05 2:d172c9963f87 74 while(1){
edy05 2:d172c9963f87 75 if(DataRX==1) {
edy05 31:5f1737e480f3 76 timer.reset();
edy05 31:5f1737e480f3 77 timer.start();
edy05 2:d172c9963f87 78 ReadWebData();
edy05 11:002927b2675d 79 // Save data to configFile
edy05 31:5f1737e480f3 80 //writeSettingsToConfig();
edy05 32:c729e6da7f9a 81 if (servreq == 1 && weberror == 0) {
edy05 32:c729e6da7f9a 82 pc.printf("Send page \n\r");
edy05 10:bb9c778f8e3e 83 // send HTTP Response
edy05 2:d172c9963f87 84 sendpage();
edy05 31:5f1737e480f3 85
edy05 2:d172c9963f87 86 }
edy05 32:c729e6da7f9a 87 else{
edy05 32:c729e6da7f9a 88 pc.printf("Page was not sent \n\r");
edy05 32:c729e6da7f9a 89 }
edy05 2:d172c9963f87 90 esp.attach(&callback);
edy05 2:d172c9963f87 91 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 31:5f1737e480f3 92 pc.printf("HTTP Packet: \n\n%s", webdata);
edy05 31:5f1737e480f3 93 pc.printf("Web Characters sent : %d\n\n", bufl);
edy05 31:5f1737e480f3 94 pc.printf("-------------------------------------\n\n");
edy05 2:d172c9963f87 95 servreq=0;
edy05 15:9cdf757269fb 96 memset(_serverMessage, '\0', sizeof(_serverMessage));
edy05 2:d172c9963f87 97 }
edy05 31:5f1737e480f3 98 if(timer.read_ms() > 1500){
edy05 31:5f1737e480f3 99 pc.printf("starting reading new configuration in server task\n\r");
edy05 31:5f1737e480f3 100 // when stop sending answers
edy05 31:5f1737e480f3 101 timer.stop();
edy05 31:5f1737e480f3 102 timer.reset();
edy05 32:c729e6da7f9a 103 if(_newP == _P && _newI == _I && _newD == _D){
edy05 31:5f1737e480f3 104 _onlyDistanChanged = true;
edy05 31:5f1737e480f3 105 }
edy05 32:c729e6da7f9a 106 _P = _newP;
edy05 32:c729e6da7f9a 107 _I = _newI;
edy05 32:c729e6da7f9a 108 _D = _newD;
edy05 31:5f1737e480f3 109 // Save data to configFile
edy05 31:5f1737e480f3 110 writeSettingsToConfig();
edy05 31:5f1737e480f3 111 // notification that config of pid was changed
edy05 31:5f1737e480f3 112 _configChanges = true;
edy05 31:5f1737e480f3 113 // start or stop ground regulation
edy05 31:5f1737e480f3 114 //_groundRegulation = _tempGroundRegulation;
edy05 31:5f1737e480f3 115 if(_groundRegulation != _tempGroundRegulation){
edy05 31:5f1737e480f3 116 _groundRegulation = _tempGroundRegulation;
edy05 31:5f1737e480f3 117 _groundDistance->resetError();
edy05 31:5f1737e480f3 118 }
edy05 31:5f1737e480f3 119
edy05 31:5f1737e480f3 120 }
edy05 31:5f1737e480f3 121
edy05 31:5f1737e480f3 122 //Thread::wait(10);
edy05 2:d172c9963f87 123 }
edy05 2:d172c9963f87 124 }
edy05 2:d172c9963f87 125
edy05 2:d172c9963f87 126
edy05 2:d172c9963f87 127 // Static WEB page
edy05 2:d172c9963f87 128 void sendpage(){
edy05 2:d172c9963f87 129 strcpy(webbuff, "<!DOCTYPE html>");
edy05 2:d172c9963f87 130 strcat(webbuff, "<html><head><title>ESP8266 Mbed LPC1768</title></head>");
edy05 2:d172c9963f87 131 strcat(webbuff, "<body>");
edy05 2:d172c9963f87 132 strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web PID Controller</h1>");
edy05 2:d172c9963f87 133 strcat(webbuff, "Hit Count - ");
edy05 2:d172c9963f87 134 strcat(webbuff, webcount);
edy05 2:d172c9963f87 135 strcat(webbuff, "</div><br /><hr>");
edy05 15:9cdf757269fb 136 //server message (mostly errors)
edy05 15:9cdf757269fb 137 strcat(webbuff, "<div stye=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h3>Server messages</h3>");
edy05 15:9cdf757269fb 138 strcat(webbuff, _serverMessage);
edy05 15:9cdf757269fb 139 strcat(webbuff, "</div><br><hr>");
edy05 2:d172c9963f87 140 strcat(webbuff, "<p><form method=\"POST\">");
edy05 2:d172c9963f87 141 if(led1==0) {
edy05 2:d172c9963f87 142 strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked> LED 1 off");
edy05 2:d172c9963f87 143 strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" > LED 1 on<br>");
edy05 2:d172c9963f87 144 } else {
edy05 2:d172c9963f87 145 strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" > LED 1 off");
edy05 2:d172c9963f87 146 strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked> LED 1 on<br>");
edy05 2:d172c9963f87 147 }
edy05 21:0afb91824792 148 // ground regulation
edy05 31:5f1737e480f3 149 if(_tempGroundRegulation) {
edy05 21:0afb91824792 150 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" checked> Ground regulation ON");
edy05 21:0afb91824792 151 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" > Ground regulation OFF<br>");
edy05 21:0afb91824792 152 } else {
edy05 21:0afb91824792 153 strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" > Ground regulation ON");
edy05 25:69190c222dbf 154 strcat(webbuff, "<br><input type=\"radio\" name=\"groundRegulation\" value=\"0\" checked> Ground regulation OFF<br>");
edy05 21:0afb91824792 155 }
edy05 25:69190c222dbf 156 // pid ground min output
edy05 25:69190c222dbf 157 strcat(webbuff, "pid min Output: <input type=\"text\" name=\"groundPidMinOutput\" size=6 value=\"");
edy05 25:69190c222dbf 158 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 159 strcat(webbuff, _str);
edy05 25:69190c222dbf 160 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 161 //pid ground max output
edy05 25:69190c222dbf 162 strcat(webbuff, "pid max Output: <input type=\"text\" name=\"groundPidMaxOutput\" size=6 value=\"");
edy05 25:69190c222dbf 163 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 164 strcat(webbuff, _str);
edy05 25:69190c222dbf 165 strcat(webbuff, "\"><br>");
edy05 25:69190c222dbf 166 //ground regulation bias
edy05 25:69190c222dbf 167 strcat(webbuff, "Bias: <input type=\"text\" name=\"bias\" size=6 value=\"");
edy05 25:69190c222dbf 168 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 169 strcat(webbuff, _str);
edy05 25:69190c222dbf 170 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 171 strcat(webbuff, "P: <input type=\"text\" name=\"proportional\" size=6 value=\"");
edy05 32:c729e6da7f9a 172 ConvertToCharArray(_newP);
edy05 9:86a5af9935b1 173 strcat(webbuff, _str);
edy05 2:d172c9963f87 174 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 175 strcat(webbuff, "I: <input type=\"text\" name=\"integral\" size=6 value=\"");
edy05 32:c729e6da7f9a 176 ConvertToCharArray(_newI);
edy05 9:86a5af9935b1 177 strcat(webbuff, _str);
edy05 2:d172c9963f87 178 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 179 strcat(webbuff, "D: <input type=\"text\" name=\"derivative\" size=6 value=\"");
edy05 32:c729e6da7f9a 180 ConvertToCharArray(_newD);
edy05 9:86a5af9935b1 181 strcat(webbuff, _str);
edy05 2:d172c9963f87 182 strcat(webbuff, "\"><br>");
edy05 14:076ef843e1ba 183 //Ground set Point
edy05 14:076ef843e1ba 184 strcat(webbuff, "Ground setPoint: <input type=\"text\" name=\"groundSetPoint\" size=6 value=\"");
edy05 14:076ef843e1ba 185 ConvertToCharArray(_groundSetPoint);
edy05 14:076ef843e1ba 186 strcat(webbuff, _str);
edy05 14:076ef843e1ba 187 strcat(webbuff, "\"><br>");
edy05 2:d172c9963f87 188 strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" checked>");
edy05 2:d172c9963f87 189 strcat(webbuff, "<p><input type=\"submit\" value=\"send-refresh\" style=\"background: #3498db;");
edy05 2:d172c9963f87 190 strcat(webbuff, "background-image:-webkit-linear-gradient(top, #3498db, #2980b9);");
edy05 2:d172c9963f87 191 strcat(webbuff, "background-image:linear-gradient(to bottom, #3498db, #2980b9);");
edy05 2:d172c9963f87 192 strcat(webbuff, "-webkit-border-radius:12;border-radius: 12px;font-family: Arial;color:#ffffff;font-size:20px;padding:");
edy05 2:d172c9963f87 193 strcat(webbuff, "10px 20px 10px 20px; border:solid #103c57 3px;text-decoration: none;");
edy05 2:d172c9963f87 194 strcat(webbuff, "background: #3cb0fd;");
edy05 2:d172c9963f87 195 strcat(webbuff, "background-image:-webkit-linear-gradient(top,#3cb0fd,#1a5f8a);");
edy05 2:d172c9963f87 196 strcat(webbuff, "background-image:linear-gradient(to bottom,#3cb0fd,#1a5f8a);");
edy05 2:d172c9963f87 197 strcat(webbuff, "text-decoration:none;\"></form>");
edy05 2:d172c9963f87 198 strcat(webbuff, "</body></html>");
edy05 2:d172c9963f87 199 // end of WEB page data
edy05 2:d172c9963f87 200 bufl = strlen(webbuff); // get total page buffer length
edy05 2:d172c9963f87 201 sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
edy05 2:d172c9963f87 202 timeout=200;
edy05 2:d172c9963f87 203 getcount=7;
edy05 2:d172c9963f87 204 SendCMD();
edy05 2:d172c9963f87 205 getreply();
edy05 2:d172c9963f87 206 SendWEB(); // send web page
edy05 2:d172c9963f87 207 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 208 sendcheck();
edy05 2:d172c9963f87 209
edy05 2:d172c9963f87 210 }
edy05 2:d172c9963f87 211
edy05 2:d172c9963f87 212 void sendcheck(){
edy05 2:d172c9963f87 213 weberror=1;
edy05 33:a2f9fea05cb9 214 timeout= 1000;
edy05 33:a2f9fea05cb9 215 getcount = 50;
edy05 2:d172c9963f87 216 t2.reset();
edy05 2:d172c9963f87 217 t2.start();
edy05 2:d172c9963f87 218 while(weberror==1 && t2.read() <5) {
edy05 2:d172c9963f87 219 getreply();
edy05 2:d172c9963f87 220 if (strstr(replybuff, "SEND OK") != NULL) {
edy05 2:d172c9963f87 221 weberror=0; // wait for valid SEND OK
edy05 2:d172c9963f87 222 }
edy05 2:d172c9963f87 223 }
edy05 2:d172c9963f87 224 if(weberror==1) { // restart connection
edy05 32:c729e6da7f9a 225 pc.printf("sendcheck - restarting connection \n\r");
edy05 2:d172c9963f87 226 strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
edy05 2:d172c9963f87 227 timeout=500;
edy05 2:d172c9963f87 228 getcount=10;
edy05 2:d172c9963f87 229 SendCMD();
edy05 2:d172c9963f87 230 getreply();
edy05 2:d172c9963f87 231 pc.printf(replybuff);
edy05 33:a2f9fea05cb9 232 sprintf(cmdbuff,"AT+CIPSERVER=0,%d\r\n", port);
edy05 33:a2f9fea05cb9 233 timeout=500;
edy05 33:a2f9fea05cb9 234 getcount=10;
edy05 33:a2f9fea05cb9 235 SendCMD();
edy05 33:a2f9fea05cb9 236 getreply();
edy05 33:a2f9fea05cb9 237 pc.printf(replybuff);
edy05 2:d172c9963f87 238 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 239 timeout=500;
edy05 2:d172c9963f87 240 getcount=10;
edy05 2:d172c9963f87 241 SendCMD();
edy05 2:d172c9963f87 242 getreply();
edy05 2:d172c9963f87 243 pc.printf(replybuff);
edy05 2:d172c9963f87 244 } else {
edy05 32:c729e6da7f9a 245 pc.printf("sendcheck ok \n\r");
edy05 2:d172c9963f87 246 sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
edy05 2:d172c9963f87 247 SendCMD();
edy05 2:d172c9963f87 248 getreply();
edy05 2:d172c9963f87 249 pc.printf(replybuff);
edy05 2:d172c9963f87 250 }
edy05 2:d172c9963f87 251 t2.reset();
edy05 2:d172c9963f87 252 }
edy05 2:d172c9963f87 253
edy05 2:d172c9963f87 254 // Large WEB buffer data send
edy05 2:d172c9963f87 255 void SendWEB()
edy05 2:d172c9963f87 256 {
edy05 2:d172c9963f87 257 int i=0;
edy05 2:d172c9963f87 258 if(esp.writeable()) {
edy05 2:d172c9963f87 259 while(webbuff[i]!='\0') {
edy05 2:d172c9963f87 260 esp.putc(webbuff[i]);
edy05 2:d172c9963f87 261 i++;
edy05 2:d172c9963f87 262 }
edy05 2:d172c9963f87 263 }
edy05 2:d172c9963f87 264 }
edy05 2:d172c9963f87 265
edy05 2:d172c9963f87 266 // Reads and processes GET and POST web data
edy05 2:d172c9963f87 267 void ReadWebData(){
edy05 2:d172c9963f87 268 wait_ms(200);
edy05 2:d172c9963f87 269 esp.attach(NULL);
edy05 2:d172c9963f87 270 count=0;
edy05 2:d172c9963f87 271 DataRX=0;
edy05 2:d172c9963f87 272 weberror=0;
edy05 2:d172c9963f87 273 memset(webdata, '\0', sizeof(webdata));
edy05 2:d172c9963f87 274 int x = strcspn (webbuff,"+");
edy05 2:d172c9963f87 275 if(x) {
edy05 2:d172c9963f87 276 strcpy(webdata, webbuff + x);
edy05 27:5956d5e3ff63 277 //pc.printf("webdata received: %s", webdata);
edy05 2:d172c9963f87 278 weberror=0;
edy05 2:d172c9963f87 279 int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
edy05 2:d172c9963f87 280 if (strstr(webdata, "led1=1") != NULL ) {
edy05 2:d172c9963f87 281 led1=1;
edy05 2:d172c9963f87 282 }
edy05 2:d172c9963f87 283 if (strstr(webdata, "led1=0") != NULL ) {
edy05 2:d172c9963f87 284 led1=0;
edy05 2:d172c9963f87 285 }
edy05 21:0afb91824792 286 //ground regulation
edy05 21:0afb91824792 287 if (strstr(webdata, "groundRegulation=1") != NULL )
edy05 31:5f1737e480f3 288 _tempGroundRegulation = true;
edy05 21:0afb91824792 289 if (strstr(webdata, "groundRegulation=0") != NULL )
edy05 31:5f1737e480f3 290 _tempGroundRegulation = false;
edy05 25:69190c222dbf 291 // pid min Output
edy05 25:69190c222dbf 292 if (strstr(webdata, "groundPidMinOutput") != NULL ){
edy05 27:5956d5e3ff63 293 //pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 294 char* p_webdata = strstr(webdata, "groundPidMinOutput");
edy05 25:69190c222dbf 295 p_webdata = p_webdata + strlen("groundPidMinOutput") + 1;
edy05 25:69190c222dbf 296 int i = 0;
edy05 25:69190c222dbf 297 while(*p_webdata != '&'){
edy05 25:69190c222dbf 298 pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 299 _str[i] = *p_webdata;
edy05 25:69190c222dbf 300 p_webdata += 1;
edy05 25:69190c222dbf 301 i++;
edy05 25:69190c222dbf 302 }
edy05 25:69190c222dbf 303 pc.printf("\n\r");
edy05 25:69190c222dbf 304 _str[i] = '\0';
edy05 27:5956d5e3ff63 305 //pc.printf("groundPidMinOutput: %s", _str);
edy05 25:69190c222dbf 306 _groundPidMinOutput = atof(_str);
edy05 27:5956d5e3ff63 307 //pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 308 }
edy05 25:69190c222dbf 309 //pid max output
edy05 25:69190c222dbf 310 if (strstr(webdata, "groundPidMaxOutput") != NULL ){
edy05 27:5956d5e3ff63 311 //pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 312 char* p_webdata = strstr(webdata, "groundPidMaxOutput");
edy05 25:69190c222dbf 313 p_webdata = p_webdata + strlen("groundPidMaxOutput") + 1;
edy05 25:69190c222dbf 314 int i = 0;
edy05 25:69190c222dbf 315 while(*p_webdata != '&'){
edy05 25:69190c222dbf 316 pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 317 _str[i] = *p_webdata;
edy05 25:69190c222dbf 318 p_webdata += 1;
edy05 25:69190c222dbf 319 i++;
edy05 25:69190c222dbf 320 }
edy05 27:5956d5e3ff63 321 //pc.printf("\n\r");
edy05 25:69190c222dbf 322 _str[i] = '\0';
edy05 27:5956d5e3ff63 323 //pc.printf("groundPidMaxOutput: %s", _str);
edy05 25:69190c222dbf 324 _groundPidMaxOutput = atof(_str);
edy05 27:5956d5e3ff63 325 //pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 326 }
edy05 25:69190c222dbf 327 //bias
edy05 25:69190c222dbf 328 if (strstr(webdata, "bias") != NULL ){
edy05 27:5956d5e3ff63 329 //pc.printf("\n\r looking for data \n\r");
edy05 25:69190c222dbf 330 char* p_webdata = strstr(webdata, "bias");
edy05 25:69190c222dbf 331 p_webdata = p_webdata + strlen("bias") + 1;
edy05 25:69190c222dbf 332 int i = 0;
edy05 25:69190c222dbf 333 while(*p_webdata != '&'){
edy05 25:69190c222dbf 334 pc.printf("%c", *p_webdata);
edy05 25:69190c222dbf 335 _str[i] = *p_webdata;
edy05 25:69190c222dbf 336 p_webdata += 1;
edy05 25:69190c222dbf 337 i++;
edy05 25:69190c222dbf 338 }
edy05 27:5956d5e3ff63 339 //pc.printf("\n\r");
edy05 25:69190c222dbf 340 _str[i] = '\0';
edy05 27:5956d5e3ff63 341 //pc.printf("bias: %s", _str);
edy05 25:69190c222dbf 342 _bias = atof(_str);
edy05 27:5956d5e3ff63 343 //pc.printf("\n\r end of looking for data \n\r");
edy05 25:69190c222dbf 344 }
edy05 21:0afb91824792 345 // PID values
edy05 2:d172c9963f87 346 if (strstr(webdata, "proportional") != NULL ){
edy05 27:5956d5e3ff63 347 //pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 348 char* p_webdata = strstr(webdata, "proportional");
edy05 2:d172c9963f87 349 p_webdata = p_webdata + strlen("proportional") + 1;
edy05 2:d172c9963f87 350 int i = 0;
edy05 2:d172c9963f87 351 while(*p_webdata != '&'){
edy05 2:d172c9963f87 352 pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 353 _str[i] = *p_webdata;
edy05 2:d172c9963f87 354 p_webdata += 1;
edy05 2:d172c9963f87 355 i++;
edy05 2:d172c9963f87 356 }
edy05 27:5956d5e3ff63 357 //pc.printf("\n\r");
edy05 9:86a5af9935b1 358 _str[i] = '\0';
edy05 27:5956d5e3ff63 359 //pc.printf("proportional: %s", _str);
edy05 32:c729e6da7f9a 360 _newP = atof(_str);
edy05 27:5956d5e3ff63 361 //pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 362 }
edy05 2:d172c9963f87 363 if (strstr(webdata, "integral") != NULL){
edy05 27:5956d5e3ff63 364 //pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 365 char* p_webdata = strstr(webdata, "integral");
edy05 2:d172c9963f87 366 p_webdata = p_webdata + strlen("integral") + 1;
edy05 2:d172c9963f87 367 int i = 0;
edy05 2:d172c9963f87 368 while(*p_webdata != '&'){
edy05 2:d172c9963f87 369 pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 370 _str[i] = *p_webdata;
edy05 2:d172c9963f87 371 p_webdata += 1;
edy05 2:d172c9963f87 372 i++;
edy05 2:d172c9963f87 373 }
edy05 27:5956d5e3ff63 374 //pc.printf("\n\r");
edy05 9:86a5af9935b1 375 _str[i] = '\0';
edy05 27:5956d5e3ff63 376 //pc.printf("integral: %s", _str);
edy05 32:c729e6da7f9a 377 _newI = atof(_str);
edy05 27:5956d5e3ff63 378 //pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 379
edy05 2:d172c9963f87 380 }
edy05 2:d172c9963f87 381 if (strstr(webdata, "derivative") != NULL){
edy05 27:5956d5e3ff63 382 //pc.printf("\n\r looking for data \n\r");
edy05 2:d172c9963f87 383 char* p_webdata = strstr(webdata, "derivative");
edy05 2:d172c9963f87 384 p_webdata = p_webdata + strlen("derivative") + 1;
edy05 2:d172c9963f87 385 int i = 0;
edy05 2:d172c9963f87 386 while(*p_webdata != '&'){
edy05 2:d172c9963f87 387 pc.printf("%c", *p_webdata);
edy05 9:86a5af9935b1 388 _str[i] = *p_webdata;
edy05 2:d172c9963f87 389 p_webdata += 1;
edy05 2:d172c9963f87 390 i++;
edy05 2:d172c9963f87 391 }
edy05 27:5956d5e3ff63 392 //pc.printf("\n\r");
edy05 9:86a5af9935b1 393 _str[i] = '\0';
edy05 27:5956d5e3ff63 394 //pc.printf("derivative: %s", _str);
edy05 32:c729e6da7f9a 395 _newD = atof(_str);
edy05 27:5956d5e3ff63 396 //pc.printf("\n\r end of looking for data \n\r");
edy05 2:d172c9963f87 397 }
edy05 14:076ef843e1ba 398 if (strstr(webdata, "groundSetPoint") != NULL){
edy05 27:5956d5e3ff63 399 //pc.printf("\n\r looking for data \n\r");
edy05 14:076ef843e1ba 400 char* p_webdata = strstr(webdata, "groundSetPoint");
edy05 14:076ef843e1ba 401 p_webdata = p_webdata + strlen("groundSetPoint") + 1;
edy05 14:076ef843e1ba 402 int i = 0;
edy05 14:076ef843e1ba 403 while(*p_webdata != '&'){
edy05 14:076ef843e1ba 404 pc.printf("%c", *p_webdata);
edy05 14:076ef843e1ba 405 _str[i] = *p_webdata;
edy05 14:076ef843e1ba 406 p_webdata += 1;
edy05 14:076ef843e1ba 407 i++;
edy05 14:076ef843e1ba 408 }
edy05 27:5956d5e3ff63 409 //pc.printf("\n\r");
edy05 14:076ef843e1ba 410 _str[i] = '\0';
edy05 27:5956d5e3ff63 411 //pc.printf("groundSetPoint: %s", _str);
edy05 14:076ef843e1ba 412 _groundSetPoint = atof(_str);
edy05 27:5956d5e3ff63 413 //pc.printf("\n\r end of looking for data \n\r");
edy05 14:076ef843e1ba 414 }
edy05 2:d172c9963f87 415 sprintf(channel, "%d",linkID);
edy05 2:d172c9963f87 416 if (strstr(webdata, "GET") != NULL) {
edy05 2:d172c9963f87 417 servreq=1;
edy05 2:d172c9963f87 418 }
edy05 2:d172c9963f87 419 if (strstr(webdata, "POST") != NULL) {
edy05 2:d172c9963f87 420 servreq=1;
edy05 2:d172c9963f87 421 }
edy05 2:d172c9963f87 422 webcounter++;
edy05 2:d172c9963f87 423 sprintf(webcount, "%d",webcounter);
edy05 2:d172c9963f87 424 }else{
edy05 2:d172c9963f87 425 memset(webbuff, '\0', sizeof(webbuff));
edy05 2:d172c9963f87 426 esp.attach(&callback);
edy05 2:d172c9963f87 427 weberror=1;
edy05 2:d172c9963f87 428 }
edy05 2:d172c9963f87 429
edy05 2:d172c9963f87 430 }
edy05 2:d172c9963f87 431
edy05 2:d172c9963f87 432 void startserver(){
edy05 2:d172c9963f87 433 pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
edy05 2:d172c9963f87 434 strcpy(cmdbuff,"AT+RST\r\n");
edy05 2:d172c9963f87 435 timeout=8000;
edy05 2:d172c9963f87 436 getcount=1000;
edy05 2:d172c9963f87 437 SendCMD();
edy05 2:d172c9963f87 438 getreply();
edy05 2:d172c9963f87 439 pc.printf(replybuff);
edy05 2:d172c9963f87 440 pc.printf("%d",count);
edy05 2:d172c9963f87 441 if (strstr(replybuff, "OK") != NULL) {
edy05 2:d172c9963f87 442 pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
edy05 2:d172c9963f87 443 strcpy(cmdbuff, "AT+CIPMUX=1\r\n"); // set multiple connections.
edy05 2:d172c9963f87 444 timeout=500;
edy05 2:d172c9963f87 445 getcount=20;
edy05 2:d172c9963f87 446 SendCMD();
edy05 2:d172c9963f87 447 getreply();
edy05 2:d172c9963f87 448 pc.printf(replybuff);
edy05 2:d172c9963f87 449 sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
edy05 2:d172c9963f87 450 timeout=500;
edy05 2:d172c9963f87 451 getcount=20;
edy05 2:d172c9963f87 452 SendCMD();
edy05 2:d172c9963f87 453 getreply();
edy05 2:d172c9963f87 454 pc.printf(replybuff);
edy05 2:d172c9963f87 455 wait(1);
edy05 2:d172c9963f87 456 sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
edy05 2:d172c9963f87 457 timeout=500;
edy05 2:d172c9963f87 458 getcount=50;
edy05 2:d172c9963f87 459 SendCMD();
edy05 2:d172c9963f87 460 getreply();
edy05 2:d172c9963f87 461 pc.printf(replybuff);
edy05 2:d172c9963f87 462 wait(5);
edy05 2:d172c9963f87 463 pc.printf("\n Getting Server IP \r\n");
edy05 2:d172c9963f87 464 strcpy(cmdbuff, "AT+CIFSR\r\n");
edy05 2:d172c9963f87 465 timeout=2500;
edy05 2:d172c9963f87 466 getcount=200;
edy05 2:d172c9963f87 467 while(weberror==0) {
edy05 2:d172c9963f87 468 SendCMD();
edy05 2:d172c9963f87 469 getreply();
edy05 2:d172c9963f87 470 if (strstr(replybuff, "0.0.0.0") == NULL) {
edy05 2:d172c9963f87 471 weberror=1; // wait for valid IP
edy05 2:d172c9963f87 472 }
edy05 2:d172c9963f87 473 }
edy05 2:d172c9963f87 474 pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
edy05 2:d172c9963f87 475 pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
edy05 2:d172c9963f87 476 replybuff[strlen(replybuff)-1] = '\0';
edy05 2:d172c9963f87 477 //char* IP = replybuff + 5;
edy05 2:d172c9963f87 478 sprintf(webdata,"%s", replybuff);
edy05 2:d172c9963f87 479 //SAVE IP ADDRESS
edy05 2:d172c9963f87 480 get_ip_address(webdata);
edy05 2:d172c9963f87 481 pc.printf("ip_address: %s\n\r",ip_address);
edy05 2:d172c9963f87 482 pc.printf(webdata);
edy05 2:d172c9963f87 483 pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
edy05 2:d172c9963f87 484 esp.attach(&callback);
edy05 2:d172c9963f87 485 } else {
edy05 2:d172c9963f87 486 pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
edy05 2:d172c9963f87 487 while(1) {}
edy05 2:d172c9963f87 488 }
edy05 2:d172c9963f87 489 t2.reset();
edy05 2:d172c9963f87 490 t2.start();
edy05 2:d172c9963f87 491 }
edy05 2:d172c9963f87 492
edy05 2:d172c9963f87 493 void SendCMD()
edy05 2:d172c9963f87 494 {
edy05 2:d172c9963f87 495 esp.printf("%s", cmdbuff);
edy05 2:d172c9963f87 496 }
edy05 2:d172c9963f87 497
edy05 2:d172c9963f87 498 void getreply()
edy05 2:d172c9963f87 499 {
edy05 2:d172c9963f87 500 memset(replybuff, '\0', sizeof(replybuff));
edy05 2:d172c9963f87 501 t1.reset();
edy05 2:d172c9963f87 502 t1.start();
edy05 2:d172c9963f87 503 replycount=0;
edy05 2:d172c9963f87 504 while(t1.read_ms()< timeout && replycount < getcount) {
edy05 2:d172c9963f87 505 if(esp.readable()) {
edy05 2:d172c9963f87 506 replybuff[replycount] = esp.getc();
edy05 2:d172c9963f87 507 replycount++;
edy05 2:d172c9963f87 508 }
edy05 2:d172c9963f87 509 }
edy05 2:d172c9963f87 510 t1.stop();
edy05 2:d172c9963f87 511 }
edy05 2:d172c9963f87 512
edy05 2:d172c9963f87 513 void get_ip_address(char web_data[1024]){
edy05 2:d172c9963f87 514 char pre_text[] = "+CIFSR:STAIP,\"";
edy05 2:d172c9963f87 515 char* p_text = strstr(webdata, pre_text);
edy05 2:d172c9963f87 516 p_text = p_text+strlen(pre_text);
edy05 2:d172c9963f87 517 char* p_text2 = strstr(p_text, "\"");
edy05 2:d172c9963f87 518 for(int i = 0;;i++){
edy05 2:d172c9963f87 519 if(*(p_text+i) == *p_text2){
edy05 2:d172c9963f87 520 ip_address[i] = '\0';
edy05 2:d172c9963f87 521 break;
edy05 2:d172c9963f87 522 }
edy05 2:d172c9963f87 523 ip_address[i] = *(p_text+i);
edy05 2:d172c9963f87 524
edy05 2:d172c9963f87 525 }
edy05 2:d172c9963f87 526 }