Eduard Medla
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
- Revision:
- 2:d172c9963f87
- Child:
- 9:86a5af9935b1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ESP8266/Server.h Thu Oct 26 15:54:47 2017 +0000
@@ -0,0 +1,369 @@
+#include "mbed.h"
+#include "rtos.h"
+
+
+RawSerial esp(p9, p10); // tx, rx
+DigitalOut reset(p8);
+
+// Standard Mbed LED definitions
+DigitalOut led1(LED1); // (PTB18)
+DigitalOut led3(LED3); // (PTD1)
+
+Timer t1;
+Timer t2;
+
+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 type[16];
+char channel[2];
+char ip_address[20];
+int bufflen, DataRX, count, getcount, replycount, servreq, timeout;
+int bufl, ipdLen, linkID, weberror, webcounter;
+
+void getreply(); void SendCMD();
+void startserver();
+void ReadWebData();
+void sendpage();
+void sendcheck();
+void get_ip_address(char web_data[1024]);
+void SendWEB();
+
+void serverRun();
+void serverMain();
+void serverLoop();
+void callback();
+
+int port =80; // set server port
+int SERVtimeout =5; // set server timeout in seconds in case link breaks.
+
+char P[6] = "7.2";
+char I[6] = "6.3";
+char D[6] = "1.8";
+
+//serverThread.start(serverRun);
+
+void callback(){
+ //pc.printf("callback!!!!!!!!!!!!!!!!_________________________\n\r");
+ led3 = 1;
+ while (esp.readable()) {
+ webbuff[count] = esp.getc();
+ count++;
+ }
+ if(strlen(webbuff)>bufflen) {
+ DataRX=1;
+ led3=0;
+ }
+}
+
+
+void serverRun(){
+ reset=0;
+ pc.baud(115200);
+
+ pc.printf("\f\n\r------------ ESP8266 Hardware Reset --------------\n\r");
+ wait(0.5);
+ reset=1;
+ timeout=6000;
+ getcount=500;
+ getreply();
+ esp.baud(115200); // ESP8266 baudrate. Maximum on KLxx' is 115200, 230400 works on K20 and K22F
+ startserver();
+ while(1){
+ if(DataRX==1) {
+ ReadWebData();
+ if (servreq == 1 && weberror == 0) {
+ sendpage();
+ }
+ 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("\n\n HTTP Packet: \n\n%s\n", webdata);
+ pc.printf(" Web Characters sent : %d\n\n", bufl);
+ pc.printf(" -------------------------------------\n\n");
+ servreq=0;
+ }
+ Thread::wait(1000);
+ }
+}
+
+
+// Static WEB page
+void sendpage(){
+ 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, "<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, "P: <input type=\"text\" name=\"proportional\" size=6 value=\"");
+ strcat(webbuff, P);
+ strcat(webbuff, "\"><br>");
+ strcat(webbuff, "I: <input type=\"text\" name=\"integral\" size=6 value=\"");
+ strcat(webbuff, I);
+ strcat(webbuff, "\"><br>");
+ strcat(webbuff, "D: <input type=\"text\" name=\"derivative\" size=6 value=\"");
+ strcat(webbuff, D);
+ 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, "</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.
+ timeout=200;
+ getcount=7;
+ SendCMD();
+ getreply();
+ SendWEB(); // send web page
+ memset(webbuff, '\0', sizeof(webbuff));
+ sendcheck();
+
+
+}
+
+void sendcheck(){
+ weberror=1;
+ timeout=500;
+ getcount=24;
+ t2.reset();
+ t2.start();
+ while(weberror==1 && t2.read() <5) {
+ getreply();
+ if (strstr(replybuff, "SEND OK") != NULL) {
+ weberror=0; // wait for valid SEND OK
+ }
+ }
+ if(weberror==1) { // restart connection
+ strcpy(cmdbuff, "AT+CIPMUX=1\r\n");
+ timeout=500;
+ getcount=10;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
+ timeout=500;
+ getcount=10;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ } else {
+ sprintf(cmdbuff, "AT+CIPCLOSE=%s\r\n",channel); // close current connection
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ }
+ t2.reset();
+}
+
+// Large WEB buffer data send
+void SendWEB()
+{
+ int i=0;
+ if(esp.writeable()) {
+ while(webbuff[i]!='\0') {
+ esp.putc(webbuff[i]);
+ i++;
+ }
+ }
+}
+
+// Reads and processes GET and POST web data
+void ReadWebData(){
+ wait_ms(200);
+ esp.attach(NULL);
+ count=0;
+ DataRX=0;
+ weberror=0;
+ memset(webdata, '\0', sizeof(webdata));
+ int x = strcspn (webbuff,"+");
+ if(x) {
+ strcpy(webdata, webbuff + x);
+ 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 ) {
+ led1=1;
+ }
+ if (strstr(webdata, "led1=0") != NULL ) {
+ led1=0;
+ }
+ if (strstr(webdata, "proportional") != NULL ){
+ 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);
+ P[i] = *p_webdata;
+ p_webdata += 1;
+ i++;
+ }
+ pc.printf("\n\r");
+ P[i] = '\0';
+ pc.printf("proportional: %s", P);
+ 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");
+ char* p_webdata = strstr(webdata, "integral");
+ p_webdata = p_webdata + strlen("integral") + 1;
+ int i = 0;
+ while(*p_webdata != '&'){
+ pc.printf("%c", *p_webdata);
+ I[i] = *p_webdata;
+ p_webdata += 1;
+ i++;
+ }
+ pc.printf("\n\r");
+ I[i] = '\0';
+ pc.printf("integral: %s", I);
+ 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");
+ char* p_webdata = strstr(webdata, "derivative");
+ p_webdata = p_webdata + strlen("derivative") + 1;
+ int i = 0;
+ while(*p_webdata != '&'){
+ pc.printf("%c", *p_webdata);
+ D[i] = *p_webdata;
+ p_webdata += 1;
+ i++;
+ }
+ pc.printf("\n\r");
+ D[i] = '\0';
+ pc.printf("derivative: %s", D);
+ pc.printf("\n\r end of looking for data \n\r");
+ }
+ sprintf(channel, "%d",linkID);
+ if (strstr(webdata, "GET") != NULL) {
+ servreq=1;
+ }
+ if (strstr(webdata, "POST") != NULL) {
+ servreq=1;
+ }
+ webcounter++;
+ sprintf(webcount, "%d",webcounter);
+ }else{
+ memset(webbuff, '\0', sizeof(webbuff));
+ esp.attach(&callback);
+ weberror=1;
+ }
+
+}
+
+void startserver(){
+ 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);
+ if (strstr(replybuff, "OK") != NULL) {
+ 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);
+ sprintf(cmdbuff,"AT+CIPSERVER=1,%d\r\n", port);
+ timeout=500;
+ getcount=20;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ wait(1);
+ sprintf(cmdbuff,"AT+CIPSTO=%d\r\n",SERVtimeout);
+ timeout=500;
+ getcount=50;
+ SendCMD();
+ getreply();
+ pc.printf(replybuff);
+ wait(5);
+ pc.printf("\n Getting Server IP \r\n");
+ strcpy(cmdbuff, "AT+CIFSR\r\n");
+ timeout=2500;
+ getcount=200;
+ while(weberror==0) {
+ SendCMD();
+ getreply();
+ if (strstr(replybuff, "0.0.0.0") == NULL) {
+ 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");
+ 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");
+ esp.attach(&callback);
+ } else {
+ pc.printf("\n++++++++++ ESP8266 error, check power/connections ++++++++++\r\n");
+ while(1) {}
+ }
+ t2.reset();
+ t2.start();
+}
+
+void SendCMD()
+{
+ esp.printf("%s", cmdbuff);
+}
+
+void getreply()
+{
+ memset(replybuff, '\0', sizeof(replybuff));
+ t1.reset();
+ t1.start();
+ replycount=0;
+ while(t1.read_ms()< timeout && replycount < getcount) {
+ if(esp.readable()) {
+ replybuff[replycount] = esp.getc();
+ replycount++;
+ }
+ }
+ t1.stop();
+}
+
+void get_ip_address(char web_data[1024]){
+ char pre_text[] = "+CIFSR:STAIP,\"";
+ char* p_text = strstr(webdata, pre_text);
+ p_text = p_text+strlen(pre_text);
+ char* p_text2 = strstr(p_text, "\"");
+ for(int i = 0;;i++){
+ if(*(p_text+i) == *p_text2){
+ ip_address[i] = '\0';
+ break;
+ }
+ ip_address[i] = *(p_text+i);
+
+ }
+}