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
Branch:
DistanceRegulation
Revision:
14:076ef843e1ba
Parent:
13:33024b5880b3
Child:
15:9cdf757269fb

File content as of revision 14:076ef843e1ba:

#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);
void ConvertToCharArray(int 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];
bool pidChanged = false;
float _P = 0;
float _I = 0;
float _D = 0;
int _groundSetPoint = 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);
    if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
        _groundSetPoint = atof(value);
        
}

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


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 );  
}

//Converts integer to char array
void ConvertToCharArray(int number)
{
    sprintf(_str, "%d", number );  
}


#endif