File content as of revision 1:0fe432e5dfc4:

#include "mbed.h"
//#include "rtos.h"
#include "stm32f103c8t6.h"
#include "ATCmdParser.h"
#include "UARTSerial.h"
//#include "Thread.h"

DigitalOut MOTOA1(PB_4);
DigitalOut MOTOB1(PB_5);

DigitalOut MOTOA2(PB_8);
DigitalOut MOTOB2(PB_9);

Serial debug_uart(PB_10, PB_11);

AnalogIn SensorCurrent(PA_0);

AnalogIn BatteryVoltage(PA_1);

void motor1_move(uint8_t dir);
void motor2_move(uint8_t dir);

void system_init();

UARTSerial *_serial;

//Thread  thread1,thread2,thread3;

#if 1

uint8_t sensor_cnt,cal_cnt;
uint8_t dir;
float sense_value;
uint8_t ov_flag, init_flag, motor1_ready_flag, motor2_ready_flag, sensor_flag;

#endif

void sensor_capture_cb(void){
    sensor_cnt++;
}

#define MAX_LENGTH_STEPS 55
#define MIN_LENGTH_STEPS 10
#define MOVING_UP 1
#define MOVING_DOWN 2
#define MOVING_FORWARD 1
#define MOVING_BACKWARD 2
#define STOP 0

#if 1

void Power_thread(void const *argument){/*detect current*/
  uint8_t i = 0;
  while(true){
    Thread::wait(500); /*unit millisec*/
    //debug_uart.printf("Power_thread 11111111111111\r\n");
    //debug_uart.printf("sensor_cnt = %d\r\n", sensor_cnt);
    sense_value = SensorCurrent.read(); 
    //debug_uart.printf("current sense_value2 =%0.4f \r\n", sense_value);
    if((sense_value>0.8)&&sensor_flag){
        debug_uart.printf("sense_value = %0.4f > 0.4 \r\n", sense_value);
        ov_flag = 1;
        //if(motor2_ready_flag){
            //motor2_ready_flag = 0;
            //while(1){motor1_move(STOP);}
        //}
    }   
  }
}

void Motor1_thread(void const *argument){/*detect current*/
    uint8_t i;
  while(true){
    Thread::wait(300); /*unit millisec*/
    if(motor2_ready_flag){   
        sensor_cnt = 0;
        motor1_move(MOVING_FORWARD);
        wait(1);
        sensor_flag = 1;
        while(!ov_flag){debug_uart.printf("xxxxxxxxxxxxxxxxx \r\n"); wait(1);}
        motor1_move(STOP);
        debug_uart.printf("overcurrent detected \r\n");     
        ov_flag = 0;
        motor2_ready_flag = 0;
        cal_cnt = sensor_cnt;
        debug_uart.printf("calibration done \r\n");     
        debug_uart.printf("calibrated cnt is %d \r\n", cal_cnt);  
        wait(2);
        debug_uart.printf("back to origianl position, motor1_ready_flag = 1\r\n"); 
        motor1_ready_flag = 1;
        while(1){
            if(motor2_ready_flag){break;}else{
                wait(1);
                debug_uart.printf("thread2----wait for motor2 ready\r\n"); //wait(1);
            }
        }
        motor2_ready_flag = 0;
        sensor_cnt = 0;
        sensor_flag = 0;
        motor1_move(MOVING_BACKWARD);
        debug_uart.printf("current cal_cnt is %d\r\n", cal_cnt);
        //while(sensor_cnt<(cal_cnt-10)){debug_uart.printf("sensor cnt is %d\r\n", sensor_cnt);}
        while(1){
            if(sensor_cnt>(cal_cnt-10)){break;}else{
                wait_ms(10);
                //debug_uart.printf("sensor cnt is %d \r\n", sensor_cnt); 
            }
        }
        debug_uart.printf("xxxxxxxxxx----------sensor cnt is %d \r\n", sensor_cnt); 
        //debug_uart.printf("sensor cnt is higher than equal cal_cnt - 10 \r\n"); 
        motor1_move(STOP);
        wait(2);
        motor1_ready_flag = 1;
        //if(ov_flag){ov_flag = 0;}
    }
  }
}

void Motor2_thread(void const *argument){/*detect current*/
  uint8_t sta1,sta2;
  DigitalIn Stopper1(PA_13);
  DigitalIn Stopper2(PA_15);

  while(true){
    Thread::wait(300); /*unit millisec*/
    if(!init_flag){
        #if 1
        wait(1);
        debug_uart.printf("thread 2 start \r\n");    
        motor2_move(MOVING_UP);
        while(Stopper1){;}
        motor2_move(STOP);
        debug_uart.printf("up stopper1 triggered \r\n");        
        //init_flag = 1;
        motor2_ready_flag = 1;
        wait(1);
        //while(!motor1_ready_flag){debug_uart.printf("wait for motor1 ready\r\n");wait(1);}
        while(1){
            if(motor1_ready_flag){break;}else{
                wait(1);
                debug_uart.printf("thread2----wait for motor1 ready \r\n"); 
            }
        }
        debug_uart.printf("motor1 is ready\r\n");   
        motor1_ready_flag = 0;
        motor2_move(MOVING_DOWN);
        while(Stopper2){;}
        motor2_move(STOP);
        debug_uart.printf("down stopper1 triggered \r\n");      
        motor2_ready_flag = 1;
        init_flag = 1;  
        //while(!motor1_ready_flag){debug_uart.printf("wait for finish\r\n");wait(1);}
        while(1){
            if(motor1_ready_flag){break;}else{
                wait(1);
                debug_uart.printf("thread2----wait for motor1 ready \r\n"); 
            }
        }
        debug_uart.printf("move motor2 to center\r\n"); 
        motor2_move(MOVING_UP);
        wait(1.5);
        motor2_move(STOP);
        debug_uart.printf("motor2 thread done\r\n");
        #endif        
    }
  }
}


#endif

int main(){ 
    wait(2);
    
    system_init();  
    
    InterruptIn Hall1(PA_14);
    //InterruptIn Hall2(PB_3);    
    Hall1.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event
    //Hall2.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event
    debug_uart.printf("Hall1 init done\r\n");

    //Thread thread1(osPriorityNormal,2048,Power_thread, NULL); /*check the real-time current*/
    
    #if 0
    thread1.start(Power_thread);
    debug_uart.printf("thread1~~~~~~~~~~~~~~~~\r\n");
    thread2.start(Motor1_thread);
    debug_uart.printf("thread2~~~~~~~~~~~~~~~~\r\n");
    thread3.start(Motor2_thread);
    debug_uart.printf("thread3~~~~~~~~~~~~~~~~\r\n");
    #endif
    
    #if 1
    
    Thread thread1(Power_thread, NULL, osPriorityNormal, 2048);
    Thread thread2(Motor1_thread, NULL, osPriorityNormal, 2048);
    Thread thread3(Motor1_thread, NULL, osPriorityNormal, 2048);
    #endif
    
    #if 0    
    debug_uart.printf("thread1~~~~~~~~~~~~~~~~\r\n");
    Thread thread2(osPriorityNormal,2048,Motor1_thread, NULL); /*check the real-time current*/
    //Thread thread2(Motor1_thread, NULL, osPriorityNormal, 512); /*check the real-time current*/
    debug_uart.printf("thread2~~~~~~~~~~~~~~~~\r\n");
    Thread thread3(osPriorityNormal,2048,Motor2_thread,NULL); /*check the real-time current*/
    //Thread thread3(Motor2_thread, NULL, osPriorityNormal, 512); /*check the real-time current*/
    debug_uart.printf("thread3~~~~~~~~~~~~~~~~\r\n");
    #endif
    
    
    
    init_flag = 0;
    //motor2_ready_flag = 1;
    //motor2_move(MOVING_DOWN);
    while(1){        
        //debug_uart.printf("~~~~~~~~~~~~~~\r\n");
        wait(1);  
        //sense_value = SensorCurrent.read(); 
        debug_uart.printf("current sense_value2 =%0.4f \r\n", sense_value);        
    }
}




void motor1_move(uint8_t dir){/*main motor*/
  if(dir==1){/*forward*/
    MOTOA1 = 0;
    MOTOB1 = 1;
  }else if(dir==2){/*backward*/
    MOTOA1 = 1;
    MOTOB1 = 0;
  }else{ /*stop*/
    MOTOA1 = 0;
    MOTOB1 = 0;
  }
}

void motor2_move(uint8_t dir){/*assistant motor*/
  if(dir==1){/*up*/
    MOTOA2 = 0;
    MOTOB2 = 1;
  }else if(dir==2){/*down*/
    MOTOA2 = 1;
    MOTOB2 = 0;
  }else{ /*stop*/
    MOTOA2 = 0;
    MOTOB2 = 0;
  }
}

void system_init(){
  
  debug_uart.baud(115200);
  /*
  lcdBus.write(0x00);
  TFTRD = 0;
  TFTWR = 0;
  TFTDC = 0;
  TFTCS = 0;
  */
  MOTOA1 = 0;
  MOTOB1 = 0;
  MOTOA2 = 0;
  MOTOB2 = 0;
  init_flag = 0;
  motor1_ready_flag = 0;
  motor2_ready_flag = 0;
  sense_value = 0;
  sensor_flag = 0;
  
  debug_uart.printf("system init done\r\n");
 
}
#if 0
void wifi_debug(){
  wifi_uart.baud(115200);
  debug_uart.baud(115200);
  WIFI_PWREN = 1;
  while(1){
    if(wifi_uart.readable()){
      debug_uart.putc(wifi_uart.getc());
    }
    if(debug_uart.readable()){
      wifi_uart.putc(debug_uart.getc());
    }
  }
}
void bt_debug(){
  bt_uart.baud(9600);
  debug_uart.baud(9600);
  while(1){
    if(bt_uart.readable()){
       debug_uart.putc(bt_uart.getc());
    }
    if(debug_uart.readable()){
       bt_uart.putc(debug_uart.getc());
    }
  }
}
void lcd_debug(){
  char i = 0;
  unsigned char str[] = "bob's test";
  unsigned char str2[] = "hello world";
  ST7789V_Init();  
  BlockWrite(0,COL-1,0,ROW-1); 
  LCD_block_test();  
  //DispColor(GREEN); 
  DispStr(str, 40, 80, BLUE, GREEN);
  DispStr(str2, 40, 120, BLUE, GREEN);
  //DispOneChar(0x32,60,60,BLUE,GREEN);
  while(1){
      ;
  }     
}

void sht20_debug(){
  while(1) {
    int temperature = sht.readTemp();
    debug_uart.printf("Temperature is: %d \t", temperature);
    int humidity=  sht.readHumidity();
    debug_uart.printf("Humidity: %d \r\n",humidity);
    wait(2);
  }
}

void eeprom_debug(){
  char ucdata_write[1];    
  if (!i2c.write((MCP24AA02_ADDR|WRITE), ucdata_write, 1, 0)){
  //readID(MCP24AA02_MID);
  //readID(MCP24AA02_DID);
  //Uncomment the following 6 lines of code to write Data into the EEPROM
  /*
  writeEE(0x00,0x4D); // ASCII M
  writeEE(0x01,0x61); // ASCII a
  writeEE(0x02,0x72); // ASCII r
  writeEE(0x03,0x74); // ASCII t
  writeEE(0x04,0x69); // ASCII i
  writeEE(0x05,0x6E); // ASCII n
  debug_uart.printf("\n\r");
  */
  //Uncomment the following line to Erase the EEPROM
  // eraseEE();
  #if 1
  for (int i=2;i<=0x7;i++){readEE(i);}
  debug_uart.printf("\r\n");
  #endif
  }else{
    debug_uart.printf("\n\rCannot get an ACK from the Device check connections!\n\r");
  }
}

#endif