feng wang / Bob_Curtain_Sample_0506

test

Dependencies:   mbed-STM32F103C8T6 mbed-rtos mbed-dev

main.cpp@9:e859598fa5d8, 2020-04-29 (annotated)

Committer:
bbw
Date:
Wed Apr 29 12:14:31 2020 +0000
Revision:
9:e859598fa5d8
Parent:
8:a32b83084287 
not working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
techneo 0:217105958c2d 1 #include "mbed.h"
bbw 1:0fe432e5dfc4 2 #include "stm32f103c8t6.h"
hankzhang 3:30d61fa10b98 3 #include "string.h"
hankzhang 3:30d61fa10b98 4 #include "main.h"
hankzhang 4:864bb8bde75c 5 #include "stdio.h"
hankzhang 4:864bb8bde75c 6 #include "stdlib.h"
bbw 1:0fe432e5dfc4 7
bbw 6:a9cc2c424cf9 8 DigitalOut MOTOA1(PB_4);
bbw 6:a9cc2c424cf9 9 DigitalOut MOTOB1(PB_5);
bbw 6:a9cc2c424cf9 10
bbw 6:a9cc2c424cf9 11 DigitalOut MOTOA2(PB_8);
bbw 6:a9cc2c424cf9 12 DigitalOut MOTOB2(PB_9);
bbw 6:a9cc2c424cf9 13
bbw 6:a9cc2c424cf9 14 AnalogIn SensorCurrent(PA_0);
bbw 6:a9cc2c424cf9 15
bbw 6:a9cc2c424cf9 16 void motor1_move(uint8_t dir);
bbw 6:a9cc2c424cf9 17 void motor2_move(uint8_t dir);
bbw 6:a9cc2c424cf9 18
bbw 6:a9cc2c424cf9 19 void system_init();
bbw 6:a9cc2c424cf9 20
bbw 8:a32b83084287 21 uint8_t sensor_cnt,cal_cnt, cal_cnt2, cur_cnt, tar_cnt, pre_sensor_cnt;
bbw 6:a9cc2c424cf9 22 float sense_value;
bbw 6:a9cc2c424cf9 23 uint8_t ov_flag, init_flag, motor1_ready_flag, motor2_ready_flag, sensor_flag, ready_flag;
bbw 6:a9cc2c424cf9 24 uint8_t open_flag,close_flag;
bbw 6:a9cc2c424cf9 25
hankzhang 7:155d5b6a416f 26 #define MAX_LENGTH_STEPS 55
hankzhang 7:155d5b6a416f 27 #define MIN_LENGTH_STEPS 10
hankzhang 7:155d5b6a416f 28 #define MOVING_UP 1
hankzhang 7:155d5b6a416f 29 #define MOVING_DOWN 2
hankzhang 7:155d5b6a416f 30 #define MOVING_FORWARD 1
hankzhang 7:155d5b6a416f 31 #define MOVING_BACKWARD 2
hankzhang 7:155d5b6a416f 32 #define STOP 0
bbw 6:a9cc2c424cf9 33
bbw 9:e859598fa5d8 34 #define DEBOUNCE 20
bbw 9:e859598fa5d8 35
hankzhang 7:155d5b6a416f 36 //---------------------------------------------------
bbw 9:e859598fa5d8 37 DigitalOut WIFI_PWREN(PC_13);
hankzhang 3:30d61fa10b98 38
hankzhang 3:30d61fa10b98 39 UARTSerial *_serial;
bbw 1:0fe432e5dfc4 40
hankzhang 3:30d61fa10b98 41 UARTSerial debug_uart(PB_10, PB_11, 115200);
hankzhang 3:30d61fa10b98 42 UARTSerial wifi_uart(PA_2, PA_3, 115200);
hankzhang 3:30d61fa10b98 43
bbw 8:a32b83084287 44 InterruptIn DebugKey(PA_12);
bbw 8:a32b83084287 45 volatile bool button1_pressed = false; // Used in the main loop
bbw 8:a32b83084287 46 volatile bool button1_enabled = true; // Used for debouncing
bbw 8:a32b83084287 47 Timeout button1_timeout; // Used for debouncing
bbw 8:a32b83084287 48
bbw 8:a32b83084287 49 // Enables button when bouncing is over
bbw 9:e859598fa5d8 50 void button1_enabled_cb(void){
bbw 9:e859598fa5d8 51 button1_enabled = true;
bbw 8:a32b83084287 52 }
bbw 8:a32b83084287 53
bbw 8:a32b83084287 54 // ISR handling button pressed event
bbw 9:e859598fa5d8 55 void button1_onpressed_cb(void){
bbw 9:e859598fa5d8 56 if (button1_enabled){ // Disabled while the button is bouncing
bbw 9:e859598fa5d8 57 button1_enabled = false;
bbw 9:e859598fa5d8 58 button1_pressed = true; // To be read by the main loop
bbw 9:e859598fa5d8 59 button1_timeout.attach(callback(button1_enabled_cb), 0.3); // Debounce time 300 ms
bbw 9:e859598fa5d8 60 }
bbw 8:a32b83084287 61 }
bbw 8:a32b83084287 62
bbw 8:a32b83084287 63
hankzhang 4:864bb8bde75c 64 //Serial wifi_uart(PA_2, PA_3, 115200);
hankzhang 4:864bb8bde75c 65 //Serial debug_uart(PB_10, PB_11, 115200);
hankzhang 4:864bb8bde75c 66
hankzhang 4:864bb8bde75c 67 char rxBuf[32];
hankzhang 4:864bb8bde75c 68 char wifi_rxBuf[32]; //receive msg from xiaomi cloud
hankzhang 4:864bb8bde75c 69 short g_isCloud = 0; //flag for connected xiaomi cloud
hankzhang 4:864bb8bde75c 70
hankzhang 4:864bb8bde75c 71 //char set_property[] = {"down set_properties "}
hankzhang 4:864bb8bde75c 72 //char get_property[] = {"down get_properties "}
hankzhang 3:30d61fa10b98 73 int i = 0;
hankzhang 7:155d5b6a416f 74 //---------------------------------------------------
hankzhang 3:30d61fa10b98 75
hankzhang 3:30d61fa10b98 76 ATCmdParser *_parser;
bbw 9:e859598fa5d8 77
hankzhang 7:155d5b6a416f 78 void sensor_capture_cb(void){
bbw 8:a32b83084287 79 sensor_cnt++;
bbw 8:a32b83084287 80 if(open_flag){
bbw 9:e859598fa5d8 81 if(cur_cnt<tar_cnt){
bbw 9:e859598fa5d8 82 cur_cnt++;
bbw 9:e859598fa5d8 83 }
bbw 8:a32b83084287 84 }
bbw 8:a32b83084287 85 if(close_flag){
bbw 8:a32b83084287 86 if(cur_cnt>0){
bbw 9:e859598fa5d8 87 cur_cnt--;
bbw 8:a32b83084287 88 }
bbw 8:a32b83084287 89 }
hankzhang 7:155d5b6a416f 90 }
hankzhang 7:155d5b6a416f 91
hankzhang 7:155d5b6a416f 92 void Power_thread(){/*detect current*/
bbw 8:a32b83084287 93 char len[50];
bbw 8:a32b83084287 94 char i = 0;
hankzhang 7:155d5b6a416f 95 while(true){
bbw 8:a32b83084287 96 Thread::wait(200); /*unit millisec*/
hankzhang 7:155d5b6a416f 97 sense_value = SensorCurrent.read();
bbw 9:e859598fa5d8 98 //if((sense_value>0.5)&&sensor_flag){
bbw 9:e859598fa5d8 99 if(sense_value>0.5){
bbw 8:a32b83084287 100 sprintf(len, "Power_thread: sense_value = %0.4f > 0.5 \r\n", sense_value);
bbw 8:a32b83084287 101 debug_uart.write(len, sizeof(len));
bbw 8:a32b83084287 102 i++;
bbw 8:a32b83084287 103 if(i>1){
bbw 8:a32b83084287 104 ov_flag = 1;
bbw 8:a32b83084287 105 }
bbw 8:a32b83084287 106 }else{
bbw 9:e859598fa5d8 107 i = 0;
bbw 9:e859598fa5d8 108 }
hankzhang 7:155d5b6a416f 109 }
hankzhang 7:155d5b6a416f 110 }
hankzhang 7:155d5b6a416f 111
bbw 8:a32b83084287 112 void Motor1_thread(){
bbw 8:a32b83084287 113 char len[50];
bbw 8:a32b83084287 114 while(true){
bbw 8:a32b83084287 115 Thread::wait(300); /*unit millisec*/
bbw 8:a32b83084287 116 if(!init_flag){
bbw 8:a32b83084287 117 while(1){
bbw 8:a32b83084287 118 if(motor2_ready_flag){break;}else{
bbw 8:a32b83084287 119 wait(1);
bbw 8:a32b83084287 120 debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
bbw 8:a32b83084287 121 }
bbw 8:a32b83084287 122 }
bbw 8:a32b83084287 123 motor2_ready_flag = 0;
bbw 8:a32b83084287 124 sensor_cnt = 0;
bbw 8:a32b83084287 125 motor1_move(MOVING_FORWARD);
bbw 8:a32b83084287 126 wait(1);
bbw 9:e859598fa5d8 127 //sensor_flag = 1; /*enable current monitoring*/
bbw 8:a32b83084287 128 while(!ov_flag){
bbw 8:a32b83084287 129 debug_uart.write("Motor1_thread: waiting for ov_flag = 1 \r\n",41);
bbw 8:a32b83084287 130 wait(1);
bbw 8:a32b83084287 131 }
bbw 8:a32b83084287 132 motor1_move(STOP);
bbw 8:a32b83084287 133 ov_flag = 0;
bbw 8:a32b83084287 134 motor2_ready_flag = 0;
bbw 8:a32b83084287 135 cal_cnt = sensor_cnt;
bbw 8:a32b83084287 136 sprintf(len, "Motor1_thread: primary calibrated cnt is %d \r\n", cal_cnt);
bbw 8:a32b83084287 137 debug_uart.write(len, sizeof(len));
bbw 8:a32b83084287 138 wait(1);
bbw 8:a32b83084287 139 motor1_ready_flag = 1;
bbw 8:a32b83084287 140 while(1){
bbw 8:a32b83084287 141 if(motor2_ready_flag){break;}else{
bbw 8:a32b83084287 142 wait(1);
bbw 8:a32b83084287 143 debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
hankzhang 7:155d5b6a416f 144 }
bbw 8:a32b83084287 145 }
bbw 8:a32b83084287 146 motor2_ready_flag = 0;
bbw 8:a32b83084287 147 sensor_cnt = 0;
bbw 8:a32b83084287 148 motor1_move(MOVING_BACKWARD);
bbw 8:a32b83084287 149 while(!ov_flag){
bbw 8:a32b83084287 150 debug_uart.write("Motor1_thread: waiting for ov_flag = 1 \r\n",41);
bbw 8:a32b83084287 151 wait(1);
bbw 8:a32b83084287 152 }
bbw 8:a32b83084287 153 motor1_move(STOP);
bbw 8:a32b83084287 154 cal_cnt2 = sensor_cnt;
bbw 8:a32b83084287 155 sensor_cnt = 0;
bbw 8:a32b83084287 156 cal_cnt = (cal_cnt2+cal_cnt)/2;
bbw 8:a32b83084287 157 sprintf(len, "Motor1_thread: final calibrated cnt is %d \r\n", cal_cnt);
bbw 8:a32b83084287 158 debug_uart.write(len, sizeof(len));
bbw 8:a32b83084287 159 wait(1);
bbw 8:a32b83084287 160 motor1_ready_flag = 1;
bbw 8:a32b83084287 161 while(!init_flag){debug_uart.write("Motor1_thread: -------------------------------\r\n",48);wait(1);}
bbw 8:a32b83084287 162 }else{
bbw 9:e859598fa5d8 163 debug_uart.write("Motor1_thread: -----check motor2_ready_flag-----\r\n",50);
bbw 8:a32b83084287 164 while(1){
bbw 9:e859598fa5d8 165 if(motor2_ready_flag){break;}
bbw 9:e859598fa5d8 166 debug_uart.write("Motor1_thread: -----check motor2_ready_flag-----\r\n",50);
bbw 9:e859598fa5d8 167 wait(1);
bbw 8:a32b83084287 168 }
bbw 9:e859598fa5d8 169 debug_uart.write("Motor1_thread: ------motor2_ready_flag = 1------\r\n",50);
bbw 8:a32b83084287 170 motor2_ready_flag = 0;
bbw 9:e859598fa5d8 171 sprintf(len, "Motor1_thread: cur_cnt = %d. \r\n", cur_cnt);
bbw 9:e859598fa5d8 172 debug_uart.write(len, sizeof(len));
bbw 8:a32b83084287 173 if(open_flag){
bbw 9:e859598fa5d8 174 motor1_move(MOVING_FORWARD);
bbw 9:e859598fa5d8 175 while(1){
bbw 9:e859598fa5d8 176 sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
bbw 9:e859598fa5d8 177 debug_uart.write(len, sizeof(len));
bbw 9:e859598fa5d8 178 sprintf(len, "Motor1_thread: tar_cnt is %d \r\n", tar_cnt);
bbw 9:e859598fa5d8 179 debug_uart.write(len, sizeof(len));
bbw 9:e859598fa5d8 180 wait(1);
bbw 9:e859598fa5d8 181 if(cur_cnt>=tar_cnt){
bbw 9:e859598fa5d8 182 debug_uart.write("Motor1_thread: *********************************\r\n", 50);
bbw 9:e859598fa5d8 183 sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
bbw 9:e859598fa5d8 184 debug_uart.write(len, sizeof(len));
bbw 9:e859598fa5d8 185 break;
bbw 8:a32b83084287 186 }
bbw 9:e859598fa5d8 187 if(ov_flag){
bbw 9:e859598fa5d8 188 debug_uart.write("Motor1_thread: xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx\r\n", 50);
bbw 9:e859598fa5d8 189 break;
bbw 9:e859598fa5d8 190 }
bbw 9:e859598fa5d8 191 }
bbw 8:a32b83084287 192 }
bbw 8:a32b83084287 193 if(close_flag){
bbw 9:e859598fa5d8 194 motor1_move(MOVING_BACKWARD);
bbw 9:e859598fa5d8 195 while(1){
bbw 9:e859598fa5d8 196 sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
bbw 9:e859598fa5d8 197 debug_uart.write(len, sizeof(len));
bbw 9:e859598fa5d8 198 sprintf(len, "Motor1_thread: tar_cnt is %d \r\n", tar_cnt);
bbw 9:e859598fa5d8 199 debug_uart.write(len, sizeof(len));
bbw 9:e859598fa5d8 200 wait(1);
bbw 9:e859598fa5d8 201 if(cur_cnt<=tar_cnt){
bbw 9:e859598fa5d8 202 debug_uart.write("Motor1_thread: *********************************\r\n", 50);
bbw 9:e859598fa5d8 203 sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
bbw 9:e859598fa5d8 204 debug_uart.write(len, sizeof(len));
bbw 9:e859598fa5d8 205 break;
bbw 8:a32b83084287 206 }
bbw 9:e859598fa5d8 207 if(ov_flag){
bbw 9:e859598fa5d8 208 debug_uart.write("Motor1_thread: xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx\r\n", 50);
bbw 9:e859598fa5d8 209 break;
bbw 9:e859598fa5d8 210 }
bbw 9:e859598fa5d8 211 }
bbw 8:a32b83084287 212 }
bbw 8:a32b83084287 213 motor1_move(STOP);
bbw 8:a32b83084287 214 if(!ov_flag){
bbw 9:e859598fa5d8 215 cur_cnt = tar_cnt;
bbw 9:e859598fa5d8 216 debug_uart.write("Motor1_thread: xxxxxxcur_cnt = tar_cntxxxxxxxxxx\r\n", 50);
bbw 8:a32b83084287 217 }else{
bbw 9:e859598fa5d8 218 if(open_flag){cur_cnt = cal_cnt;}
bbw 9:e859598fa5d8 219 if(close_flag){cur_cnt = 0;}
bbw 9:e859598fa5d8 220 ov_flag = 0;
bbw 8:a32b83084287 221 }
bbw 8:a32b83084287 222 motor1_ready_flag = 1;
bbw 8:a32b83084287 223 }
bbw 8:a32b83084287 224 }
hankzhang 7:155d5b6a416f 225 }
hankzhang 7:155d5b6a416f 226
bbw 8:a32b83084287 227 void Motor2_thread(){
bbw 8:a32b83084287 228 uint8_t sta1,sta2;
bbw 8:a32b83084287 229 uint8_t i;
bbw 8:a32b83084287 230 DigitalIn Stopper1(PA_13);
bbw 8:a32b83084287 231 DigitalIn Stopper2(PA_15);
bbw 8:a32b83084287 232 char len[50];
bbw 8:a32b83084287 233 while(true){
bbw 8:a32b83084287 234 Thread::wait(300); /*unit millisec*/
bbw 8:a32b83084287 235 if(!init_flag){
bbw 8:a32b83084287 236 wait(1);
bbw 8:a32b83084287 237 debug_uart.write("Motor2_thread: motor2 move up\r\n", 31);
bbw 8:a32b83084287 238 motor2_move(MOVING_UP);
bbw 8:a32b83084287 239 while(Stopper1){;}
bbw 8:a32b83084287 240 motor2_move(STOP);
bbw 8:a32b83084287 241 debug_uart.write("Motor2_thread: Up stopper triggered \r\n",38);
bbw 8:a32b83084287 242 motor2_ready_flag = 1;
bbw 8:a32b83084287 243 wait(1);
bbw 8:a32b83084287 244 while(1){
bbw 8:a32b83084287 245 if(motor1_ready_flag){break;}else{
bbw 8:a32b83084287 246 wait(1);debug_uart.write("Motor2_thread: --------------------------------- \r\n",51);
bbw 8:a32b83084287 247 }
bbw 8:a32b83084287 248 }
bbw 8:a32b83084287 249 motor1_ready_flag = 0;
bbw 8:a32b83084287 250 motor2_move(MOVING_DOWN);
bbw 8:a32b83084287 251 while(Stopper2){;}
bbw 8:a32b83084287 252 motor2_move(STOP);
bbw 8:a32b83084287 253 debug_uart.write("Motor2_thread: Down stopper triggered \r\n", 40);
bbw 8:a32b83084287 254 motor2_ready_flag = 1;
bbw 8:a32b83084287 255 while(1){
bbw 8:a32b83084287 256 if(motor1_ready_flag){break;}else{
bbw 8:a32b83084287 257 wait(1);debug_uart.write("Motor2_thread: --------------------------------- \r\n",51);
hankzhang 7:155d5b6a416f 258 }
bbw 8:a32b83084287 259 }
bbw 8:a32b83084287 260 motor1_ready_flag = 0;
bbw 8:a32b83084287 261 debug_uart.write("Motor2_thread: motor2 move to center\r\n",38);
bbw 8:a32b83084287 262 ov_flag = 0;
bbw 8:a32b83084287 263 ready_flag = 1;
bbw 8:a32b83084287 264 motor2_move(MOVING_UP);
bbw 8:a32b83084287 265 wait(1.6);
bbw 8:a32b83084287 266 motor2_move(STOP);
bbw 8:a32b83084287 267 ready_flag = 0;
bbw 8:a32b83084287 268 debug_uart.write("Motor2_thread: motor2 thread done\r\n",35);
bbw 8:a32b83084287 269 cur_cnt = 0;
bbw 8:a32b83084287 270 init_flag = 1;
bbw 8:a32b83084287 271 }else{
bbw 9:e859598fa5d8 272 debug_uart.write("Motor2_thread: ------------command?-------------\r\n", 50);
bbw 9:e859598fa5d8 273 sprintf(len, "Motor2_thread: cur_cnt = %d. \r\n", cur_cnt);
bbw 9:e859598fa5d8 274 debug_uart.write(len, sizeof(len));
bbw 8:a32b83084287 275 while(1){
bbw 9:e859598fa5d8 276 if(open_flag){break;}
bbw 9:e859598fa5d8 277 if(close_flag){break;}
bbw 9:e859598fa5d8 278 debug_uart.write("Motor2_thread: ------------command?-------------\r\n", 50);
bbw 9:e859598fa5d8 279 wait(1);
bbw 8:a32b83084287 280 }
bbw 8:a32b83084287 281 if(open_flag){
bbw 9:e859598fa5d8 282 debug_uart.write("Motor2_thread: --------------open---------------\r\n", 50);
bbw 8:a32b83084287 283 motor2_move(MOVING_UP);
bbw 9:e859598fa5d8 284 while(1){
bbw 9:e859598fa5d8 285 if(!Stopper1){i++;};
bbw 9:e859598fa5d8 286 if(i>DEBOUNCE){break;}
bbw 9:e859598fa5d8 287 }
bbw 8:a32b83084287 288 }
bbw 8:a32b83084287 289 if(close_flag){
bbw 9:e859598fa5d8 290 debug_uart.write("Motor2_thread: -------------close---------------\r\n", 50);
bbw 8:a32b83084287 291 motor2_move(MOVING_DOWN);
bbw 8:a32b83084287 292 while(1){
bbw 9:e859598fa5d8 293 if(!Stopper2){i++;};
bbw 9:e859598fa5d8 294 if(i>DEBOUNCE){break;}
bbw 8:a32b83084287 295 }
bbw 8:a32b83084287 296 }
bbw 9:e859598fa5d8 297 i = 0;
bbw 9:e859598fa5d8 298 motor2_move(STOP);
bbw 9:e859598fa5d8 299 motor2_ready_flag = 1;
bbw 8:a32b83084287 300 while(1){
bbw 9:e859598fa5d8 301 if(motor1_ready_flag){break;}
bbw 9:e859598fa5d8 302 debug_uart.write("Motor2_thread: ---check motor1_ready_flag-------\r\n",50);
bbw 9:e859598fa5d8 303 wait(1);
bbw 8:a32b83084287 304 }
bbw 9:e859598fa5d8 305 debug_uart.write("Motor2_thread: -------motor1_ready_flag = 1-------\r\n",50);
bbw 8:a32b83084287 306 motor1_ready_flag = 0;
bbw 8:a32b83084287 307 wait(1);
bbw 9:e859598fa5d8 308 debug_uart.write("Motor2_thread: -------motor2 move to center-------\r\n",50);
bbw 8:a32b83084287 309 if(open_flag){
bbw 8:a32b83084287 310 motor2_move(MOVING_DOWN);
bbw 8:a32b83084287 311 }
bbw 8:a32b83084287 312 if(close_flag){
bbw 8:a32b83084287 313 motor2_move(MOVING_UP);
bbw 8:a32b83084287 314 }
bbw 8:a32b83084287 315 wait(1.6);
bbw 8:a32b83084287 316 motor2_move(STOP);
bbw 9:e859598fa5d8 317 debug_uart.write("Motor2_thread: --------motor2 thread done-------\r\n",50);
bbw 9:e859598fa5d8 318 sensor_cnt = 0;
bbw 9:e859598fa5d8 319 pre_sensor_cnt = 0;
bbw 8:a32b83084287 320 open_flag = 0;
bbw 8:a32b83084287 321 close_flag = 0;
hankzhang 7:155d5b6a416f 322 }
bbw 8:a32b83084287 323 }
hankzhang 7:155d5b6a416f 324 }
hankzhang 7:155d5b6a416f 325
hankzhang 7:155d5b6a416f 326
hankzhang 4:864bb8bde75c 327
hankzhang 4:864bb8bde75c 328 void led1_thread() {
hankzhang 4:864bb8bde75c 329 int length;
hankzhang 4:864bb8bde75c 330 char len[20];
hankzhang 4:864bb8bde75c 331 char l;
hankzhang 4:864bb8bde75c 332 int position = 0;
hankzhang 4:864bb8bde75c 333 int error = 0;
hankzhang 4:864bb8bde75c 334
hankzhang 4:864bb8bde75c 335 while (true)
hankzhang 4:864bb8bde75c 336 {
bbw 8:a32b83084287 337 wifi_uart.write("get_down\r\n", 10);
hankzhang 4:864bb8bde75c 338 if(wifi_uart.readable())
hankzhang 4:864bb8bde75c 339 {
hankzhang 4:864bb8bde75c 340 length = wifi_uart.read(wifi_rxBuf, sizeof(wifi_rxBuf));
hankzhang 4:864bb8bde75c 341 if(!(strncmp(wifi_rxBuf,"down none",9)))
hankzhang 4:864bb8bde75c 342 {
hankzhang 4:864bb8bde75c 343 //if return "down none"
bbw 8:a32b83084287 344 //debug_uart.write("--- none\r\n",10);
hankzhang 4:864bb8bde75c 345 }
hankzhang 4:864bb8bde75c 346 else if(!(strncmp(wifi_rxBuf,"down set_properties ",20)))
hankzhang 4:864bb8bde75c 347 {
hankzhang 4:864bb8bde75c 348 //if return "down set_properties"
bbw 8:a32b83084287 349 //debug_uart.write("--- set:\r\n", 10);
bbw 8:a32b83084287 350 //debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 351
hankzhang 4:864bb8bde75c 352 //set properties
hankzhang 4:864bb8bde75c 353 if(wifi_rxBuf[22] == '7')
hankzhang 4:864bb8bde75c 354 {
bbw 8:a32b83084287 355 //set target-position
bbw 8:a32b83084287 356 position = atoi(&wifi_rxBuf[24]);
bbw 8:a32b83084287 357 sprintf(len, "position:%d\r\n", position);
bbw 8:a32b83084287 358 debug_uart.write(len, sizeof(len));
bbw 8:a32b83084287 359 /*add by bob*/
bbw 8:a32b83084287 360 if(position<=10){//0
bbw 8:a32b83084287 361 tar_cnt = 0;
bbw 8:a32b83084287 362 }else if(position<=30){//25%
bbw 8:a32b83084287 363 tar_cnt = 30;
bbw 8:a32b83084287 364 }else if(position<=60){//50%
bbw 8:a32b83084287 365 tar_cnt = 50;
bbw 8:a32b83084287 366 }else if(position<=85){//75%
bbw 8:a32b83084287 367 tar_cnt = 70;
bbw 8:a32b83084287 368 }else{//100%
bbw 8:a32b83084287 369 tar_cnt = 90;
bbw 8:a32b83084287 370 }
bbw 8:a32b83084287 371 if(tar_cnt>cur_cnt){
bbw 8:a32b83084287 372 open_flag = 1;
bbw 8:a32b83084287 373 debug_uart.write("open flag = 1\r\n", 15);
bbw 8:a32b83084287 374 }
bbw 8:a32b83084287 375 if(tar_cnt<cur_cnt){
bbw 8:a32b83084287 376 close_flag = 1;
bbw 8:a32b83084287 377 debug_uart.write("close flag = 1\r\n", 16);
bbw 8:a32b83084287 378 }
bbw 8:a32b83084287 379 }
hankzhang 4:864bb8bde75c 380 //report result to cloud
bbw 8:a32b83084287 381 wifi_uart.write("result 2 7 0\r\n", 14);
hankzhang 4:864bb8bde75c 382 if(wifi_uart.readable())
hankzhang 4:864bb8bde75c 383 {
bbw 8:a32b83084287 384 //length = wifi_uart.read(wifi_rxBuf, sizeof(wifi_rxBuf));
bbw 8:a32b83084287 385 //debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 386 }
hankzhang 4:864bb8bde75c 387 }
hankzhang 4:864bb8bde75c 388 else if(!(strncmp(wifi_rxBuf,"down get_properties ",20)))
hankzhang 4:864bb8bde75c 389 {
hankzhang 4:864bb8bde75c 390 //if return "down get_properties"
bbw 8:a32b83084287 391 //debug_uart.write("--- get:\r\n", 10);
bbw 8:a32b83084287 392 //debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 393
hankzhang 4:864bb8bde75c 394 //report result to cloud
hankzhang 4:864bb8bde75c 395 }
hankzhang 4:864bb8bde75c 396 else if(!(strncmp(wifi_rxBuf,"down MIIO_net_change ",21)))
hankzhang 4:864bb8bde75c 397 {
hankzhang 4:864bb8bde75c 398 //if return "down MIIO_net_change"
bbw 8:a32b83084287 399 //debug_uart.write(wifi_rxBuf, length);
bbw 8:a32b83084287 400 //debug_uart.write("--- net:\r\n",10);
hankzhang 4:864bb8bde75c 401 if((!strncmp(&wifi_rxBuf[21], "offline", 7)))
hankzhang 4:864bb8bde75c 402 {
hankzhang 4:864bb8bde75c 403 //连接中
bbw 8:a32b83084287 404 debug_uart.write("offline\r\n", 9);
hankzhang 4:864bb8bde75c 405 }
hankzhang 4:864bb8bde75c 406 else if((!strncmp(&wifi_rxBuf[21], "local", 5)))
hankzhang 4:864bb8bde75c 407 {
hankzhang 4:864bb8bde75c 408 //连上路由器但未连上服务器
bbw 8:a32b83084287 409 debug_uart.write("local\r\n", 7);
hankzhang 4:864bb8bde75c 410 }
hankzhang 4:864bb8bde75c 411 else if((!strncmp(&wifi_rxBuf[21], "cloud", 5)))
hankzhang 4:864bb8bde75c 412 {
hankzhang 4:864bb8bde75c 413 //连上小米云服务器
bbw 8:a32b83084287 414 debug_uart.write("cloud\r\n", 7);
hankzhang 4:864bb8bde75c 415 g_isCloud = 1;
hankzhang 4:864bb8bde75c 416 }
hankzhang 4:864bb8bde75c 417 }
hankzhang 4:864bb8bde75c 418 else
hankzhang 4:864bb8bde75c 419 {
hankzhang 4:864bb8bde75c 420 debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 421 }
hankzhang 4:864bb8bde75c 422
hankzhang 4:864bb8bde75c 423 }
hankzhang 4:864bb8bde75c 424 thread_sleep_for(400);
techneo 0:217105958c2d 425 }
techneo 0:217105958c2d 426 }
techneo 0:217105958c2d 427
bbw 1:0fe432e5dfc4 428
hankzhang 2:f48b0967b6cc 429 void led0_thread() {
hankzhang 3:30d61fa10b98 430 int length;
hankzhang 3:30d61fa10b98 431 while (1) {
hankzhang 3:30d61fa10b98 432 if(debug_uart.readable())
hankzhang 3:30d61fa10b98 433 {
hankzhang 3:30d61fa10b98 434 length = debug_uart.read(rxBuf, sizeof(rxBuf));
hankzhang 3:30d61fa10b98 435 debug_uart.write(rxBuf, length);
hankzhang 3:30d61fa10b98 436 wifi_uart.write(rxBuf, length);
hankzhang 3:30d61fa10b98 437 debug_uart.write("111\r",4);
hankzhang 3:30d61fa10b98 438 }
hankzhang 3:30d61fa10b98 439 if(wifi_uart.readable())
hankzhang 3:30d61fa10b98 440 {
hankzhang 3:30d61fa10b98 441 length = wifi_uart.read(rxBuf, sizeof(rxBuf));
hankzhang 3:30d61fa10b98 442 debug_uart.write(rxBuf, length);
hankzhang 3:30d61fa10b98 443 debug_uart.write("222\r",4);
hankzhang 3:30d61fa10b98 444
hankzhang 3:30d61fa10b98 445 }
hankzhang 3:30d61fa10b98 446 wait(0.5);
bbw 1:0fe432e5dfc4 447 }
bbw 1:0fe432e5dfc4 448 }
hankzhang 3:30d61fa10b98 449
hankzhang 3:30d61fa10b98 450
bbw 6:a9cc2c424cf9 451 void motor1_move(uint8_t dir){/*main motor*/
bbw 6:a9cc2c424cf9 452 if(dir==1){/*forward*/
bbw 6:a9cc2c424cf9 453 MOTOA1 = 0;
bbw 6:a9cc2c424cf9 454 MOTOB1 = 1;
bbw 6:a9cc2c424cf9 455 }else if(dir==2){/*backward*/
bbw 6:a9cc2c424cf9 456 MOTOA1 = 1;
bbw 6:a9cc2c424cf9 457 MOTOB1 = 0;
bbw 6:a9cc2c424cf9 458 }else{ /*stop*/
bbw 6:a9cc2c424cf9 459 MOTOA1 = 0;
bbw 6:a9cc2c424cf9 460 MOTOB1 = 0;
bbw 6:a9cc2c424cf9 461 }
bbw 6:a9cc2c424cf9 462 }
bbw 6:a9cc2c424cf9 463
bbw 6:a9cc2c424cf9 464 void motor2_move(uint8_t dir){/*assistant motor*/
bbw 6:a9cc2c424cf9 465 if(dir==1){/*up*/
bbw 6:a9cc2c424cf9 466 MOTOA2 = 0;
bbw 6:a9cc2c424cf9 467 MOTOB2 = 1;
bbw 6:a9cc2c424cf9 468 }else if(dir==2){/*down*/
bbw 6:a9cc2c424cf9 469 MOTOA2 = 1;
bbw 6:a9cc2c424cf9 470 MOTOB2 = 0;
bbw 6:a9cc2c424cf9 471 }else{ /*stop*/
bbw 6:a9cc2c424cf9 472 MOTOA2 = 0;
bbw 6:a9cc2c424cf9 473 MOTOB2 = 0;
bbw 6:a9cc2c424cf9 474 }
bbw 6:a9cc2c424cf9 475 }
bbw 6:a9cc2c424cf9 476
bbw 9:e859598fa5d8 477 void system_init(){
bbw 6:a9cc2c424cf9 478 MOTOA1 = 0;
bbw 6:a9cc2c424cf9 479 MOTOB1 = 0;
bbw 6:a9cc2c424cf9 480 MOTOA2 = 0;
bbw 6:a9cc2c424cf9 481 MOTOB2 = 0;
bbw 8:a32b83084287 482 init_flag = 1;
bbw 8:a32b83084287 483 cur_cnt = 0;
bbw 8:a32b83084287 484 cal_cnt = 68;
bbw 6:a9cc2c424cf9 485 motor1_ready_flag = 0;
bbw 6:a9cc2c424cf9 486 motor2_ready_flag = 0;
bbw 6:a9cc2c424cf9 487 sense_value = 0;
bbw 6:a9cc2c424cf9 488 ready_flag = 0;
bbw 9:e859598fa5d8 489 debug_uart.write("************************************************\r\n",50);
bbw 9:e859598fa5d8 490 debug_uart.write("******************LAIWU TECH********************\r\n",50);
bbw 9:e859598fa5d8 491 debug_uart.write("************************************************\r\n",50);
bbw 9:e859598fa5d8 492 debug_uart.write("****system init done, wait 3 seconds to start***\r\n",50);
bbw 6:a9cc2c424cf9 493 wait(3);
hankzhang 7:155d5b6a416f 494 }
hankzhang 7:155d5b6a416f 495
hankzhang 7:155d5b6a416f 496 int main() {
bbw 9:e859598fa5d8 497 int length;
bbw 9:e859598fa5d8 498 char len[50];
bbw 9:e859598fa5d8 499 system_init();
bbw 9:e859598fa5d8 500 WIFI_PWREN = 1;
bbw 9:e859598fa5d8 501 InterruptIn Hall1(PA_14);
bbw 9:e859598fa5d8 502 Hall1.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event
bbw 9:e859598fa5d8 503 DebugKey.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
bbw 9:e859598fa5d8 504 debug_uart.write("************************************************\r\n",50);
bbw 9:e859598fa5d8 505 debug_uart.write("************Hall sensor init done***************\r\n",50);
bbw 9:e859598fa5d8 506
bbw 9:e859598fa5d8 507 //Thread thread0(osPriorityNormal, 512, nullptr, nullptr);
bbw 9:e859598fa5d8 508 Thread thread1(osPriorityNormal, 512, nullptr, nullptr);
bbw 9:e859598fa5d8 509 //Thread thread2(osPriorityNormal, 512, nullptr, nullptr);
bbw 9:e859598fa5d8 510
bbw 9:e859598fa5d8 511 Thread thread2(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
bbw 9:e859598fa5d8 512 //debug_uart.printf("thread1~~~~~~~~~~~~~~~~\r\n");
bbw 9:e859598fa5d8 513 Thread thread3(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
bbw 9:e859598fa5d8 514 //debug_uart.printf("thread2~~~~~~~~~~~~~~~~\r\n");
bbw 9:e859598fa5d8 515 Thread thread4(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
bbw 9:e859598fa5d8 516 //debug_uart.printf("thread3~~~~~~~~~~~~~~~~\r\n");
bbw 9:e859598fa5d8 517
bbw 9:e859598fa5d8 518 //thread0.start(led0_thread);
bbw 9:e859598fa5d8 519 thread1.start(led1_thread);
bbw 9:e859598fa5d8 520 thread2.start(Power_thread);
bbw 9:e859598fa5d8 521 thread3.start(Motor1_thread);
bbw 9:e859598fa5d8 522 thread4.start(Motor2_thread);
bbw 9:e859598fa5d8 523
bbw 9:e859598fa5d8 524 debug_uart.write("************************************************\r\n",50);
bbw 9:e859598fa5d8 525 debug_uart.write("************Four Threads created****************\r\n",50);
bbw 9:e859598fa5d8 526
bbw 9:e859598fa5d8 527 while(1){
bbw 9:e859598fa5d8 528 if(g_isCloud){
bbw 9:e859598fa5d8 529 debug_uart.write("***********WIFI Status: connected***************\r\n",50);
bbw 9:e859598fa5d8 530 }
bbw 9:e859598fa5d8 531 if (button1_pressed) { // Set when button is pressed
bbw 9:e859598fa5d8 532 button1_pressed = false;
bbw 9:e859598fa5d8 533 debug_uart.write("-------------restore wifi module----------------\r\n",50);
bbw 9:e859598fa5d8 534 wifi_uart.write("restore\r\n", 9);
bbw 9:e859598fa5d8 535 }
bbw 9:e859598fa5d8 536 #if 0
bbw 9:e859598fa5d8 537 if(!open_flag&&!close_flag){
bbw 9:e859598fa5d8 538 if(sensor_cnt>(pre_sensor_cnt+4)){
bbw 9:e859598fa5d8 539 if(cur_cnt<5){
bbw 9:e859598fa5d8 540 open_flag = 1;
bbw 9:e859598fa5d8 541 tar_cnt = cal_cnt;
bbw 9:e859598fa5d8 542 cur_cnt = cur_cnt+sensor_cnt;
bbw 9:e859598fa5d8 543 debug_uart.write("main_thread: ---------------open----------------\r\n", 50);
bbw 9:e859598fa5d8 544 }else{
bbw 9:e859598fa5d8 545 close_flag = 1;
bbw 9:e859598fa5d8 546 tar_cnt = 0;
bbw 9:e859598fa5d8 547 cur_cnt = cur_cnt-sensor_cnt;
bbw 9:e859598fa5d8 548 debug_uart.write("main_thread: ---------------close---------------\r\n", 50);
bbw 9:e859598fa5d8 549 }
bbw 9:e859598fa5d8 550 sprintf(len, "main_thread: cur_cnt = %d. \r\n", cur_cnt);
bbw 9:e859598fa5d8 551 debug_uart.write(len, sizeof(len));
bbw 9:e859598fa5d8 552 }
bbw 9:e859598fa5d8 553 pre_sensor_cnt = sensor_cnt;
bbw 9:e859598fa5d8 554 }
bbw 9:e859598fa5d8 555 #endif
hankzhang 7:155d5b6a416f 556 wait(3);
bbw 9:e859598fa5d8 557 sprintf(len, "main_thread: cur_cnt = %d. \r\n", cur_cnt);
bbw 9:e859598fa5d8 558 debug_uart.write(len, sizeof(len));
bbw 9:e859598fa5d8 559 }
hankzhang 2:f48b0967b6cc 560 }