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
diff -r 3a5a074b39e0 -r d172c9963f87 ESP8266/Server.h --- /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); + + } +}