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

Committer:
edy05
Date:
2017-10-27
Revision:
11:002927b2675d
Parent:
10:bb9c778f8e3e
Child:
13:33024b5880b3

File content as of revision 11:002927b2675d:

#ifndef HARDWARE_H
#define HARDWARE_H

#include "mbed.h"
#include "PpmRegen.h"
#include "PID.h"
#include "hcsr04.h"
#include "ConfigFile.h"


void loadConfigFile(void);
void writeSettingsToConfig(void);
void writeErrorLog(char *message);
void ConvertToCharArray(float number);

Serial pc(USBTX, USBRX); // tx, rx
PID* _groundDistance;
HCSR04* _sonic;
PpmRegen* _ppmRegen;

ConfigFile _configFile;
LocalFileSystem local("local");

Thread serverThread;
Thread distanceThread;

InterruptIn*    _interruptPort =    new InterruptIn(p28);
PwmOut*         _roll =             new PwmOut(p21);
PwmOut*         _pitch =            new PwmOut(p22);
PwmOut*         _throttle =         new PwmOut(p23);
PwmOut*         _yaw =              new PwmOut(p24);
PwmOut*         _aux1 =             new PwmOut(p25);
PwmOut*         _aux2 =             new PwmOut(p26);


char*  _str = new char[1024];
float _P = 0;
float _I = 0;
float _D = 0;





void loadConfigFile(void){
    //reading configFile
    _configFile.read("/local/config.cfg");
    char value[BUFSIZ];
    if (_configFile.getValue("P", &value[0], sizeof(value)))
        _P = atof(value);
    if (_configFile.getValue("I", &value[0], sizeof(value)))
        _I = atof(value);
    if (_configFile.getValue("D", &value[0], sizeof(value)))
        _D = atof(value);
        
}

void writeSettingsToConfig(void){
    ConvertToCharArray(_P);
    _configFile.setValue("P", _str);    
    ConvertToCharArray(_I);
    _configFile.setValue("I", _str);
    ConvertToCharArray(_D);
    _configFile.setValue("D", _str);
    
    _configFile.write("/local/config.cfg");        
    
}


void writeErrorLog(char *message){
    FILE *fp = fopen("/local/errorlog.txt", "w");  
    fprintf(fp, message);
    fclose(fp);
    
}


//Converts float to char array
void ConvertToCharArray(float number)
{
    sprintf(_str, "%4.2f", number );  
}


#endif