Autonomous_quadcopter - Regenerating PPM signal based on distances from u…

Users » edy05 » Code » Autonomous_quadcopter
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
Diff: ESP8266/Server.h

Branch:: DistanceRegulation
Revision:: 34:5dca557e982f
Parent:: 33:a2f9fea05cb9
Child:: 37:76bfd4e9c383
--- a/ESP8266/Server.h	Sun Feb 18 17:10:48 2018 +0000
+++ b/ESP8266/Server.h	Sun Feb 25 18:32:13 2018 +0000
@@ -16,8 +16,8 @@
 char cmdbuff[32];
 char replybuff[1024];
 char webcount[8];
-char webdata[1024]; // This may need to be bigger depending on WEB browser used
-char webbuff[4096];     // Currently using 1986 characters, Increase this if more web page data added
+char webdata[2048]; // This may need to be bigger depending on WEB browser used
+char webbuff[8192];     // Currently using 1986 characters, Increase this if more web page data added
 char type[16];
 char channel[2];
 char ip_address[20];
@@ -45,7 +45,7 @@
 //serverThread.start(serverRun);
 
 void callback(){
-    //pc.printf("callback!!!!!!!!!!!!!!!!_________________________\n\r");
+    ////pc.printf("callback!!!!!!!!!!!!!!!!_________________________\n\r");
     led3 = 1;
     while (esp.readable()) {
         webbuff[count] = esp.getc();
@@ -61,7 +61,7 @@
 void serverRun(){
     reset=0;
     
-    pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
+    //pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
     //wait(0.5);
     reset=1;
     timeout=6000;
@@ -71,6 +71,7 @@
     startserver();
     webcounter = 0;
     Timer timer;
+    bool pageWasSent = false;
     while(1){
         if(DataRX==1) {
             timer.reset();
@@ -78,25 +79,27 @@
             ReadWebData();
             // Save data to configFile
             //writeSettingsToConfig();
-            if (servreq == 1 && weberror == 0) {
-                    pc.printf("Send page \n\r");
+            if ((servreq == 1 && weberror == 0) && pageWasSent == false) {
+                    //////pc.printf("Send page \n\r");
                     // send HTTP Response
                     sendpage();
+                    pageWasSent = true;
                     
             }
             else{
-                pc.printf("Page was not sent \n\r");    
+                ////pc.printf("Page was not sent \n\r");    
             }
             esp.attach(&callback);
-            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);
-            pc.printf("HTTP Packet: \n\n%s", webdata);
-            pc.printf("Web Characters sent : %d\n\n", bufl);
-            pc.printf("-------------------------------------\n\n");
+            ////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);
+            ////pc.printf("HTTP Packet: \n\n%s", webdata);
+            ////pc.printf("Web Characters sent : %d\n\n", bufl);
+            ////pc.printf("-------------------------------------\n\n");
             servreq=0;
             memset(_serverMessage, '\0', sizeof(_serverMessage));
         }
-        if(timer.read_ms() > 1500){
-            pc.printf("starting reading new configuration in server task\n\r");
+        if(timer.read_ms() > 3000){
+            pageWasSent = false;
+            ////pc.printf("starting reading new configuration in server task\n\r");
             // when stop sending answers
             timer.stop();
             timer.reset();
@@ -119,7 +122,7 @@
             
         }
         
-        //Thread::wait(10);
+        Thread::wait(100);
     }
 }
 
@@ -129,22 +132,22 @@
     strcpy(webbuff, "<!DOCTYPE html>");
     strcat(webbuff, "<html><head><title>ESP8266 Mbed LPC1768</title></head>");
     strcat(webbuff, "<body>");
-    strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web PID Controller</h1>");
-    strcat(webbuff, "Hit Count - ");
-    strcat(webbuff, webcount);
-    strcat(webbuff, "</div><br /><hr>");
+    //strcat(webbuff, "<div style=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h1>ESP8266 Mbed IoT Web PID Controller</h1>");
+    //strcat(webbuff, "Hit Count - ");
+    //strcat(webbuff, webcount);
+    //strcat(webbuff, "</div><br /><hr>");
     //server message (mostly errors)
-    strcat(webbuff, "<div stye=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h3>Server messages</h3>");
-    strcat(webbuff, _serverMessage);
-    strcat(webbuff, "</div><br><hr>");
-    strcat(webbuff, "<p><form method=\"POST\">");
-    if(led1==0) {
-        strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked>  LED 1 off");
-        strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" >  LED 1 on<br>");
-    } else {
-        strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" >  LED 1 off");
-        strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked>  LED 1 on<br>");
-    }
+    //strcat(webbuff, "<div stye=\"text-align:center; background-color:#F4F4F4; color:#00AEDB;\"><h3>Server messages</h3>");
+    //strcat(webbuff, _serverMessage);
+    //strcat(webbuff, "</div><br><hr>");
+    strcat(webbuff, "<form method=\"POST\">");
+    //if(led1==0) {
+    //    strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" checked>  LED 1 off");
+    //    strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" >  LED 1 on<br>");
+    //} else {
+    //    strcat(webbuff, "<p><input type=\"radio\" name=\"led1\" value=\"0\" >  LED 1 off");
+    //    strcat(webbuff, "<br><input type=\"radio\" name=\"led1\" value=\"1\" checked>  LED 1 on<br>");
+    //}
     // ground regulation
     if(_tempGroundRegulation) {
         strcat(webbuff, "<p><input type=\"radio\" name=\"groundRegulation\" value=\"1\" checked>  Ground regulation ON");
@@ -185,24 +188,20 @@
     ConvertToCharArray(_groundSetPoint);
     strcat(webbuff, _str);
     strcat(webbuff, "\"><br>");
-    strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" checked>");
-    strcat(webbuff, "<p><input type=\"submit\" value=\"send-refresh\" style=\"background: #3498db;");
-    strcat(webbuff, "background-image:-webkit-linear-gradient(top, #3498db, #2980b9);");
-    strcat(webbuff, "background-image:linear-gradient(to bottom, #3498db, #2980b9);");
-    strcat(webbuff, "-webkit-border-radius:12;border-radius: 12px;font-family: Arial;color:#ffffff;font-size:20px;padding:");
-    strcat(webbuff, "10px 20px 10px 20px; border:solid #103c57 3px;text-decoration: none;");
-    strcat(webbuff, "background: #3cb0fd;");
-    strcat(webbuff, "background-image:-webkit-linear-gradient(top,#3cb0fd,#1a5f8a);");
-    strcat(webbuff, "background-image:linear-gradient(to bottom,#3cb0fd,#1a5f8a);");
-    strcat(webbuff, "text-decoration:none;\"></form>");
+    strcat(webbuff, "<p><input type=\"radio\" name=\"nothing\" value=\"1\" checked></p>");
+    strcat(webbuff, "<p><input type=\"submit\"></p>");
+    strcat(webbuff, "</form>");
     strcat(webbuff, "</body></html>");
 // end of WEB page data
     bufl = strlen(webbuff); // get total page buffer length
     sprintf(cmdbuff,"AT+CIPSEND=%d,%d\r\n", linkID, bufl); // send IPD link channel and buffer character length.
+    pc.printf("%s \n\r", cmdbuff);
     timeout=200;
     getcount=7;
     SendCMD();
+    Thread::wait(1000);
     getreply();
+    pc.printf("%s \n\r", replybuff);
     SendWEB();  // send web page
     memset(webbuff, '\0', sizeof(webbuff));
     sendcheck();
@@ -222,31 +221,31 @@
         }
     }
     if(weberror==1) { // restart connection
-        pc.printf("sendcheck - restarting connection \n\r");
+        //pc.printf("sendcheck - restarting connection \n\r");
         strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
         timeout=500;
         getcount=10;
         SendCMD();
         getreply();
-        pc.printf(replybuff);
+        //pc.printf(replybuff);
         sprintf(cmdbuff,"AT+CIPSERVER=0,%d\r\n", port);
         timeout=500;
         getcount=10;
         SendCMD();
         getreply();
-        pc.printf(replybuff);
+        //pc.printf(replybuff);
         sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
         timeout=500;
         getcount=10;
         SendCMD();
         getreply();
-        pc.printf(replybuff);
+        //pc.printf(replybuff);
     } else {
-        pc.printf("sendcheck ok \n\r");
+        //pc.printf("sendcheck ok \n\r");
         sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
         SendCMD();
         getreply();
-        pc.printf(replybuff);
+        //pc.printf(replybuff);
     }
     t2.reset();
 }
@@ -274,7 +273,7 @@
     int x = strcspn (webbuff,"+");
     if(x) {
         strcpy(webdata, webbuff + x);
-        //pc.printf("webdata received: %s", webdata);
+        //////pc.printf("webdata received: %s", webdata);
         weberror=0;
         int numMatched = sscanf(webdata,"+IPD,%d,%d:%s", &linkID, &ipdLen, type);
         if (strstr(webdata, "led1=1") != NULL ) {
@@ -290,127 +289,127 @@
             _tempGroundRegulation = false;
         // pid min Output
         if (strstr(webdata, "groundPidMinOutput") != NULL ){
-            //pc.printf("\n\r looking for data \n\r");
+            //////pc.printf("\n\r looking for data \n\r");
             char* p_webdata = strstr(webdata, "groundPidMinOutput");
             p_webdata = p_webdata + strlen("groundPidMinOutput") + 1;
             int i = 0;
             while(*p_webdata != '&'){
-                pc.printf("%c", *p_webdata);
+                ////pc.printf("%c", *p_webdata);
                 _str[i] = *p_webdata;
                 p_webdata += 1;   
                 i++; 
             }
-            pc.printf("\n\r");
+            ////pc.printf("\n\r");
             _str[i] = '\0';
-            //pc.printf("groundPidMinOutput: %s", _str);
+            //////pc.printf("groundPidMinOutput: %s", _str);
             _groundPidMinOutput = atof(_str);
-            //pc.printf("\n\r end of looking for data \n\r");
+            //////pc.printf("\n\r end of looking for data \n\r");
         }
         //pid max output
         if (strstr(webdata, "groundPidMaxOutput") != NULL ){
-            //pc.printf("\n\r looking for data \n\r");
+            //////pc.printf("\n\r looking for data \n\r");
             char* p_webdata = strstr(webdata, "groundPidMaxOutput");
             p_webdata = p_webdata + strlen("groundPidMaxOutput") + 1;
             int i = 0;
             while(*p_webdata != '&'){
-                pc.printf("%c", *p_webdata);
+                ////pc.printf("%c", *p_webdata);
                 _str[i] = *p_webdata;
                 p_webdata += 1;   
                 i++; 
             }
-            //pc.printf("\n\r");
+            //////pc.printf("\n\r");
             _str[i] = '\0';
-            //pc.printf("groundPidMaxOutput: %s", _str);
+            //////pc.printf("groundPidMaxOutput: %s", _str);
             _groundPidMaxOutput = atof(_str);
-            //pc.printf("\n\r end of looking for data \n\r");
+            //////pc.printf("\n\r end of looking for data \n\r");
         }
         //bias
         if (strstr(webdata, "bias") != NULL ){
-            //pc.printf("\n\r looking for data \n\r");
+            //////pc.printf("\n\r looking for data \n\r");
             char* p_webdata = strstr(webdata, "bias");
             p_webdata = p_webdata + strlen("bias") + 1;
             int i = 0;
             while(*p_webdata != '&'){
-                pc.printf("%c", *p_webdata);
+                ////pc.printf("%c", *p_webdata);
                 _str[i] = *p_webdata;
                 p_webdata += 1;   
                 i++; 
             }
-            //pc.printf("\n\r");
+            //////pc.printf("\n\r");
             _str[i] = '\0';
-            //pc.printf("bias: %s", _str);
+            //////pc.printf("bias: %s", _str);
             _bias = atof(_str);
-            //pc.printf("\n\r end of looking for data \n\r");
+            //////pc.printf("\n\r end of looking for data \n\r");
         }
         // PID values
         if (strstr(webdata, "proportional") != NULL ){
-            //pc.printf("\n\r looking for data \n\r");
+            //////pc.printf("\n\r looking for data \n\r");
             char* p_webdata = strstr(webdata, "proportional");
             p_webdata = p_webdata + strlen("proportional") + 1;
             int i = 0;
             while(*p_webdata != '&'){
-                pc.printf("%c", *p_webdata);
+                ////pc.printf("%c", *p_webdata);
                 _str[i] = *p_webdata;
                 p_webdata += 1;   
                 i++; 
             }
-            //pc.printf("\n\r");
+            //////pc.printf("\n\r");
             _str[i] = '\0';
-            //pc.printf("proportional: %s", _str);
+            //////pc.printf("proportional: %s", _str);
             _newP = atof(_str);
-            //pc.printf("\n\r end of looking for data \n\r");
+            //////pc.printf("\n\r end of looking for data \n\r");
         }
         if (strstr(webdata, "integral") != NULL){
-            //pc.printf("\n\r looking for data \n\r");
+            //////pc.printf("\n\r looking for data \n\r");
             char* p_webdata = strstr(webdata, "integral");
             p_webdata = p_webdata + strlen("integral") + 1;
             int i = 0;
             while(*p_webdata != '&'){
-                pc.printf("%c", *p_webdata);
+                ////pc.printf("%c", *p_webdata);
                 _str[i] = *p_webdata;
                 p_webdata += 1;   
                 i++; 
             }
-            //pc.printf("\n\r");
+            //////pc.printf("\n\r");
             _str[i] = '\0';
-            //pc.printf("integral: %s", _str);
+            //////pc.printf("integral: %s", _str);
             _newI = atof(_str);
-            //pc.printf("\n\r end of looking for data \n\r");    
+            //////pc.printf("\n\r end of looking for data \n\r");    
             
         }
         if (strstr(webdata, "derivative") != NULL){
-            //pc.printf("\n\r looking for data \n\r");
+            //////pc.printf("\n\r looking for data \n\r");
             char* p_webdata = strstr(webdata, "derivative");
             p_webdata = p_webdata + strlen("derivative") + 1;
             int i = 0;
             while(*p_webdata != '&'){
-                pc.printf("%c", *p_webdata);
+                ////pc.printf("%c", *p_webdata);
                 _str[i] = *p_webdata;
                 p_webdata += 1;   
                 i++; 
             }
-            //pc.printf("\n\r");
+            //////pc.printf("\n\r");
             _str[i] = '\0';
-            //pc.printf("derivative: %s", _str);
+            //////pc.printf("derivative: %s", _str);
             _newD = atof(_str);
-            //pc.printf("\n\r end of looking for data \n\r");       
+            //////pc.printf("\n\r end of looking for data \n\r");       
         }
         if (strstr(webdata, "groundSetPoint") != NULL){
-            //pc.printf("\n\r looking for data \n\r");
+            //////pc.printf("\n\r looking for data \n\r");
             char* p_webdata = strstr(webdata, "groundSetPoint");
             p_webdata = p_webdata + strlen("groundSetPoint") + 1;
             int i = 0;
             while(*p_webdata != '&'){
-                pc.printf("%c", *p_webdata);
+                ////pc.printf("%c", *p_webdata);
                 _str[i] = *p_webdata;
                 p_webdata += 1;   
                 i++; 
             }
-            //pc.printf("\n\r");
+            //////pc.printf("\n\r");
             _str[i] = '\0';
-            //pc.printf("groundSetPoint: %s", _str);
+            //////pc.printf("groundSetPoint: %s", _str);
             _groundSetPoint = atof(_str);
-            //pc.printf("\n\r end of looking for data \n\r");       
+            //////pc.printf("\n\r end of looking for data \n\r");       
         }
         sprintf(channel, "%d",linkID);
         if (strstr(webdata, "GET") != NULL) {
@@ -430,37 +429,37 @@
 }
 
 void startserver(){
-    pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
+    //pc.printf("++++++++++ Resetting ESP ++++++++++\r\n");
     strcpy(cmdbuff,"AT+RST\r\n");
     timeout=8000;
     getcount=1000;
     SendCMD();
     getreply();  
-    pc.printf(replybuff);
-    pc.printf("%d",count);
+    //pc.printf(replybuff);
+    //pc.printf("%d",count);
     if (strstr(replybuff, "OK") != NULL) {
-        pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
+        //////pc.printf("\n++++++++++ Starting Server ++++++++++\r\n");
         strcpy(cmdbuff, "AT+CIPMUX=1\r\n");  // set multiple connections.
         timeout=500;
         getcount=20;
         SendCMD();
         getreply();
-        pc.printf(replybuff);
+        //pc.printf(replybuff);
         sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
         timeout=500;
         getcount=20;
         SendCMD();
         getreply();
-        pc.printf(replybuff);
+        //pc.printf(replybuff);
         wait(1);
         sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
         timeout=500;
         getcount=50;
         SendCMD();
         getreply();
-        pc.printf(replybuff);
+        //pc.printf(replybuff);
         wait(5);
-        pc.printf("\n Getting Server IP \r\n");
+        //pc.printf("\n Getting Server IP \r\n");
         strcpy(cmdbuff, "AT+CIFSR\r\n");
         timeout=2500;
         getcount=200;  
@@ -471,19 +470,19 @@
                 weberror=1;   // wait for valid IP
             }
         }
-        pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
-        pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
+        //pc.printf("\n Enter WEB address (IP) found below in your browser \r\n\n");
+        //pc.printf("\n The MAC address is also shown below,if it is needed \r\n\n");
         replybuff[strlen(replybuff)-1] = '\0';
         //char* IP = replybuff + 5;
         sprintf(webdata,"%s", replybuff);
         //SAVE IP ADDRESS
         get_ip_address(webdata);
-        pc.printf("ip_address: %s\n\r",ip_address);
-        pc.printf(webdata);
-        pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
+        //pc.printf("ip_address: %s\n\r",ip_address);
+        //pc.printf(webdata);
+        //pc.printf("\n\n++++++++++ Ready ++++++++++\r\n\n");
         esp.attach(&callback);
     } else {
-        pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
+        //pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
         while(1) {}
     }
     t2.reset();
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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	22 May 2018
Imports:	5
Forks:	0
Commits:	42
Dependents:	0
Dependencies:	6
Followers:	1
Diff: ESP8266/Server.h

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