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@41:5fe200d20022, 2018-05-22 (annotated)

Committer:
edy05
Date:
Tue May 22 19:43:09 2018 +0000
Branch:
DistanceRegulation
Revision:
41:5fe200d20022
Parent:
40:0aa1cefe80ab 
final updates

Who changed what in which revision?

UserRevisionLine numberNew contents of line
edy05 11:002927b2675d 1 #ifndef HARDWARE_H
edy05 11:002927b2675d 2 #define HARDWARE_H
edy05 2:d172c9963f87 3
edy05 2:d172c9963f87 4 #include "mbed.h"
edy05 2:d172c9963f87 5 #include "PpmRegen.h"
edy05 2:d172c9963f87 6 #include "PID.h"
edy05 2:d172c9963f87 7 #include "hcsr04.h"
edy05 8:b5128641d4cf 8 #include "ConfigFile.h"
edy05 2:d172c9963f87 9
edy05 11:002927b2675d 10
edy05 11:002927b2675d 11 void loadConfigFile(void);
edy05 11:002927b2675d 12 void writeSettingsToConfig(void);
edy05 11:002927b2675d 13 void writeErrorLog(char *message);
edy05 11:002927b2675d 14 void ConvertToCharArray(float number);
edy05 14:076ef843e1ba 15 void ConvertToCharArray(int number);
edy05 11:002927b2675d 16
edy05 26:11539036f0fb 17 Serial pc(USBTX, USBRX); // tx, rx
edy05 26:11539036f0fb 18 PID* _groundDistance;
edy05 27:5956d5e3ff63 19 //RtosTimer *_groudRegulationUpdateTimer;
edy05 26:11539036f0fb 20 HCSR04* _sonic;
edy05 40:0aa1cefe80ab 21 uint8_t _frontDistance;
edy05 40:0aa1cefe80ab 22 uint8_t _leftDistance;
edy05 40:0aa1cefe80ab 23 uint8_t _rightDistance;
edy05 40:0aa1cefe80ab 24 uint8_t _backDistance;
edy05 26:11539036f0fb 25 PpmRegen* _ppmRegen;
edy05 11:002927b2675d 26
edy05 11:002927b2675d 27 ConfigFile _configFile;
edy05 11:002927b2675d 28 LocalFileSystem local("local");
edy05 2:d172c9963f87 29
edy05 40:0aa1cefe80ab 30 Semaphore _semaphore(1);
edy05 40:0aa1cefe80ab 31 Thread _serverThread;
edy05 40:0aa1cefe80ab 32 Thread _frontSensorThread;
edy05 40:0aa1cefe80ab 33 Thread _leftSensorThread;
edy05 40:0aa1cefe80ab 34 Thread _rightSensorThread;
edy05 40:0aa1cefe80ab 35 Thread _backSensorThread;
edy05 40:0aa1cefe80ab 36 Thread *_distanceThread;
edy05 27:5956d5e3ff63 37
edy05 2:d172c9963f87 38
edy05 41:5fe200d20022 39 InterruptIn* _interruptPin = new InterruptIn(p28);
edy05 2:d172c9963f87 40 PwmOut* _roll = new PwmOut(p21);
edy05 2:d172c9963f87 41 PwmOut* _pitch = new PwmOut(p22);
edy05 2:d172c9963f87 42 PwmOut* _throttle = new PwmOut(p23);
edy05 2:d172c9963f87 43 PwmOut* _yaw = new PwmOut(p24);
edy05 2:d172c9963f87 44 PwmOut* _aux1 = new PwmOut(p25);
edy05 2:d172c9963f87 45 PwmOut* _aux2 = new PwmOut(p26);
edy05 2:d172c9963f87 46
edy05 2:d172c9963f87 47
edy05 9:86a5af9935b1 48 char* _str = new char[1024];
edy05 15:9cdf757269fb 49 char* _serverMessage = new char[1024];
edy05 17:1896d242945b 50 bool _configChanges = false;
edy05 31:5f1737e480f3 51 bool _onlyDistanChanged = false;
edy05 15:9cdf757269fb 52 // zero is default value
edy05 9:86a5af9935b1 53 float _P = 0;
edy05 9:86a5af9935b1 54 float _I = 0;
edy05 9:86a5af9935b1 55 float _D = 0;
edy05 41:5fe200d20022 56 int _groundSetPoint = 0;
edy05 41:5fe200d20022 57 int _bias = 0;
edy05 41:5fe200d20022 58 int _groundPidMinOutput = 0;
edy05 41:5fe200d20022 59 int _groundPidMaxOutput = 0;
edy05 21:0afb91824792 60 bool _groundRegulation = false;
edy05 31:5f1737e480f3 61 // Temporary values for Server to filter noise
edy05 32:c729e6da7f9a 62 float _newP;
edy05 32:c729e6da7f9a 63 float _newI;
edy05 32:c729e6da7f9a 64 float _newD;
edy05 41:5fe200d20022 65 int _newGroundSetPoint;
edy05 31:5f1737e480f3 66 bool _tempGroundRegulation = false;
edy05 38:801fee0330e2 67 bool _goAhead = false;
edy05 41:5fe200d20022 68 bool _backWall = true;
edy05 40:0aa1cefe80ab 69 bool _frontWall = false;
edy05 31:5f1737e480f3 70
edy05 8:b5128641d4cf 71
edy05 11:002927b2675d 72
edy05 11:002927b2675d 73
edy05 11:002927b2675d 74
edy05 10:bb9c778f8e3e 75
edy05 41:5fe200d20022 76
edy05 9:86a5af9935b1 77 void loadConfigFile(void){
edy05 9:86a5af9935b1 78 //reading configFile
edy05 9:86a5af9935b1 79 _configFile.read("/local/config.cfg");
edy05 9:86a5af9935b1 80 char value[BUFSIZ];
edy05 25:69190c222dbf 81 if (_configFile.getValue("bias", &value[0], sizeof(value)))
edy05 25:69190c222dbf 82 _bias = atof(value);
edy05 25:69190c222dbf 83 if (_configFile.getValue("groundPidMinOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 84 _groundPidMinOutput = atof(value);
edy05 25:69190c222dbf 85 if (_configFile.getValue("groundPidMaxOutput", &value[0], sizeof(value)))
edy05 25:69190c222dbf 86 _groundPidMaxOutput = atof(value);
edy05 9:86a5af9935b1 87 if (_configFile.getValue("P", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 88 _P = atof(value);
edy05 9:86a5af9935b1 89 if (_configFile.getValue("I", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 90 _I = atof(value);
edy05 9:86a5af9935b1 91 if (_configFile.getValue("D", &value[0], sizeof(value)))
edy05 9:86a5af9935b1 92 _D = atof(value);
edy05 14:076ef843e1ba 93 if (_configFile.getValue("groundSetPoint", &value[0], sizeof(value)))
edy05 14:076ef843e1ba 94 _groundSetPoint = atof(value);
edy05 9:86a5af9935b1 95
edy05 9:86a5af9935b1 96 }
edy05 9:86a5af9935b1 97
edy05 11:002927b2675d 98 void writeSettingsToConfig(void){
edy05 25:69190c222dbf 99 ConvertToCharArray(_bias);
edy05 25:69190c222dbf 100 if(!_configFile.setValue("bias", _str))
edy05 25:69190c222dbf 101 strcat(_serverMessage, "bias value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 102 ConvertToCharArray(_groundPidMinOutput);
edy05 25:69190c222dbf 103 if(!_configFile.setValue("groundPidMinOutput", _str))
edy05 25:69190c222dbf 104 strcat(_serverMessage, "groundPidMinOutput value could not be saved to configFile\n\r");
edy05 25:69190c222dbf 105 ConvertToCharArray(_groundPidMaxOutput);
edy05 25:69190c222dbf 106 if(!_configFile.setValue("groundPidMaxOutput", _str))
edy05 25:69190c222dbf 107 strcat(_serverMessage, "groundPidMaxOutput value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 108 ConvertToCharArray(_P);
edy05 15:9cdf757269fb 109 if(!_configFile.setValue("P", _str))
edy05 15:9cdf757269fb 110 strcat(_serverMessage, "P value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 111 ConvertToCharArray(_I);
edy05 15:9cdf757269fb 112 if(!_configFile.setValue("I", _str))
edy05 15:9cdf757269fb 113 strcat(_serverMessage, "I value could not be saved to configFile\n\r");
edy05 10:bb9c778f8e3e 114 ConvertToCharArray(_D);
edy05 15:9cdf757269fb 115 if(!_configFile.setValue("D", _str))
edy05 15:9cdf757269fb 116 strcat(_serverMessage, "D value could not be saved to configFile\n\r");
edy05 14:076ef843e1ba 117 ConvertToCharArray(_groundSetPoint);
edy05 15:9cdf757269fb 118 if(!_configFile.setValue("groundSetPoint", _str)){
edy05 15:9cdf757269fb 119 strcat(_serverMessage, "groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 120 pc.printf("groundSetPoint value could not be saved to configFile\n\r");
edy05 15:9cdf757269fb 121 }
edy05 10:bb9c778f8e3e 122 _configFile.write("/local/config.cfg");
edy05 10:bb9c778f8e3e 123
edy05 10:bb9c778f8e3e 124 }
edy05 10:bb9c778f8e3e 125
edy05 11:002927b2675d 126
edy05 11:002927b2675d 127 void writeErrorLog(char *message){
edy05 11:002927b2675d 128 FILE *fp = fopen("/local/errorlog.txt", "w");
edy05 11:002927b2675d 129 fprintf(fp, message);
edy05 11:002927b2675d 130 fclose(fp);
edy05 11:002927b2675d 131
edy05 11:002927b2675d 132 }
edy05 11:002927b2675d 133
edy05 11:002927b2675d 134
edy05 9:86a5af9935b1 135 //Converts float to char array
edy05 9:86a5af9935b1 136 void ConvertToCharArray(float number)
edy05 9:86a5af9935b1 137 {
edy05 41:5fe200d20022 138 sprintf(_str, "%3.2f", number );
edy05 9:86a5af9935b1 139 }
edy05 8:b5128641d4cf 140
edy05 14:076ef843e1ba 141 //Converts integer to char array
edy05 14:076ef843e1ba 142 void ConvertToCharArray(int number)
edy05 14:076ef843e1ba 143 {
edy05 14:076ef843e1ba 144 sprintf(_str, "%d", number );
edy05 14:076ef843e1ba 145 }
edy05 14:076ef843e1ba 146
edy05 8:b5128641d4cf 147
edy05 2:d172c9963f87 148 #endif