feng wang
test
Dependencies: mbed-STM32F103C8T6 mbed-rtos mbed-dev
Diff: main.cpp
- Revision:
- 9:e859598fa5d8
- Parent:
- 8:a32b83084287
--- a/main.cpp Wed Apr 29 03:14:26 2020 +0000
+++ b/main.cpp Wed Apr 29 12:14:31 2020 +0000
@@ -19,11 +19,9 @@
void system_init();
uint8_t sensor_cnt,cal_cnt, cal_cnt2, cur_cnt, tar_cnt, pre_sensor_cnt;
-//uint8_t dir;
float sense_value;
uint8_t ov_flag, init_flag, motor1_ready_flag, motor2_ready_flag, sensor_flag, ready_flag;
uint8_t open_flag,close_flag;
-float m_val = 0;
#define MAX_LENGTH_STEPS 55
#define MIN_LENGTH_STEPS 10
@@ -33,10 +31,10 @@
#define MOVING_BACKWARD 2
#define STOP 0
+#define DEBOUNCE 20
+
//---------------------------------------------------
-DigitalOut led1(PC_13);
-
-//Serial pc(PB_10,PB_11);
+DigitalOut WIFI_PWREN(PC_13);
UARTSerial *_serial;
@@ -49,19 +47,17 @@
Timeout button1_timeout; // Used for debouncing
// Enables button when bouncing is over
-void button1_enabled_cb(void)
-{
- button1_enabled = true;
+void button1_enabled_cb(void){
+ button1_enabled = true;
}
// ISR handling button pressed event
-void button1_onpressed_cb(void)
-{
- if (button1_enabled) { // Disabled while the button is bouncing
- button1_enabled = false;
- button1_pressed = true; // To be read by the main loop
- button1_timeout.attach(callback(button1_enabled_cb), 0.3); // Debounce time 300 ms
- }
+void button1_onpressed_cb(void){
+ if (button1_enabled){ // Disabled while the button is bouncing
+ button1_enabled = false;
+ button1_pressed = true; // To be read by the main loop
+ button1_timeout.attach(callback(button1_enabled_cb), 0.3); // Debounce time 300 ms
+ }
}
@@ -78,14 +74,17 @@
//---------------------------------------------------
ATCmdParser *_parser;
+
void sensor_capture_cb(void){
sensor_cnt++;
if(open_flag){
- cur_cnt++;
+ if(cur_cnt<tar_cnt){
+ cur_cnt++;
+ }
}
if(close_flag){
if(cur_cnt>0){
- cur_cnt--;
+ cur_cnt--;
}
}
}
@@ -96,7 +95,8 @@
while(true){
Thread::wait(200); /*unit millisec*/
sense_value = SensorCurrent.read();
- if((sense_value>0.5)&&sensor_flag){
+ //if((sense_value>0.5)&&sensor_flag){
+ if(sense_value>0.5){
sprintf(len, "Power_thread: sense_value = %0.4f > 0.5 \r\n", sense_value);
debug_uart.write(len, sizeof(len));
i++;
@@ -104,9 +104,8 @@
ov_flag = 1;
}
}else{
- i = 0;
- }
-
+ i = 0;
+ }
}
}
@@ -125,7 +124,7 @@
sensor_cnt = 0;
motor1_move(MOVING_FORWARD);
wait(1);
- sensor_flag = 1; /*enable current monitoring*/
+ //sensor_flag = 1; /*enable current monitoring*/
while(!ov_flag){
debug_uart.write("Motor1_thread: waiting for ov_flag = 1 \r\n",41);
wait(1);
@@ -161,56 +160,65 @@
motor1_ready_flag = 1;
while(!init_flag){debug_uart.write("Motor1_thread: -------------------------------\r\n",48);wait(1);}
}else{
- debug_uart.write("Motor1_thread: calibration done, wait for motor2 action.\r\n", 58);
+ debug_uart.write("Motor1_thread: -----check motor2_ready_flag-----\r\n",50);
while(1){
- if(motor2_ready_flag){break;}else{
- wait(1);
- debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
- }
+ if(motor2_ready_flag){break;}
+ debug_uart.write("Motor1_thread: -----check motor2_ready_flag-----\r\n",50);
+ wait(1);
}
+ debug_uart.write("Motor1_thread: ------motor2_ready_flag = 1------\r\n",50);
motor2_ready_flag = 0;
+ sprintf(len, "Motor1_thread: cur_cnt = %d. \r\n", cur_cnt);
+ debug_uart.write(len, sizeof(len));
if(open_flag){
- motor1_move(MOVING_FORWARD);
- while(1){
- sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
- debug_uart.write(len, sizeof(len));
- sprintf(len, "Motor1_thread: tar_cnt is %d \r\n", tar_cnt);
- debug_uart.write(len, sizeof(len));
- debug_uart.write("Motor1_thread: **************************** \r\n", 46);
- wait(1);
- if(cur_cnt>=tar_cnt){
- break;
- }
- if(ov_flag){
- break;
- }
+ motor1_move(MOVING_FORWARD);
+ while(1){
+ sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
+ debug_uart.write(len, sizeof(len));
+ sprintf(len, "Motor1_thread: tar_cnt is %d \r\n", tar_cnt);
+ debug_uart.write(len, sizeof(len));
+ wait(1);
+ if(cur_cnt>=tar_cnt){
+ debug_uart.write("Motor1_thread: *********************************\r\n", 50);
+ sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
+ debug_uart.write(len, sizeof(len));
+ break;
}
+ if(ov_flag){
+ debug_uart.write("Motor1_thread: xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx\r\n", 50);
+ break;
+ }
+ }
}
if(close_flag){
- motor1_move(MOVING_BACKWARD);
- while(1){
- sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
- debug_uart.write(len, sizeof(len));
- sprintf(len, "Motor1_thread: tar_cnt is %d \r\n", tar_cnt);
- debug_uart.write(len, sizeof(len));
- debug_uart.write("Motor1_thread: **************************** \r\n", 46);
- wait(1);
- if(cur_cnt<=tar_cnt){
- break;
- }
- if(ov_flag){
- break;
- }
+ motor1_move(MOVING_BACKWARD);
+ while(1){
+ sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
+ debug_uart.write(len, sizeof(len));
+ sprintf(len, "Motor1_thread: tar_cnt is %d \r\n", tar_cnt);
+ debug_uart.write(len, sizeof(len));
+ wait(1);
+ if(cur_cnt<=tar_cnt){
+ debug_uart.write("Motor1_thread: *********************************\r\n", 50);
+ sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
+ debug_uart.write(len, sizeof(len));
+ break;
}
+ if(ov_flag){
+ debug_uart.write("Motor1_thread: xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx\r\n", 50);
+ break;
+ }
+ }
}
motor1_move(STOP);
if(!ov_flag){
- cur_cnt = tar_cnt;
+ cur_cnt = tar_cnt;
+ debug_uart.write("Motor1_thread: xxxxxxcur_cnt = tar_cntxxxxxxxxxx\r\n", 50);
}else{
- if(open_flag){cur_cnt = 90;}
- if(close_flag){cur_cnt = 0;}
+ if(open_flag){cur_cnt = cal_cnt;}
+ if(close_flag){cur_cnt = 0;}
+ ov_flag = 0;
}
- ov_flag = 0;
motor1_ready_flag = 1;
}
}
@@ -258,46 +266,46 @@
motor2_move(STOP);
ready_flag = 0;
debug_uart.write("Motor2_thread: motor2 thread done\r\n",35);
- sprintf(len, "Main_thread: mean current is =%2.4f \r\n", m_val);
- debug_uart.write(len, sizeof(len));
cur_cnt = 0;
init_flag = 1;
}else{
- debug_uart.write("Motor2_thread: calibration done.wait for open/close flag\r\n", 58);
+ debug_uart.write("Motor2_thread: ------------command?-------------\r\n", 50);
+ sprintf(len, "Motor2_thread: cur_cnt = %d. \r\n", cur_cnt);
+ debug_uart.write(len, sizeof(len));
while(1){
- if(open_flag){break;}
- if(close_flag){break;}
- wait(1);
- debug_uart.write("Motor2_thread: ------------command?------------- \r\n", 51);
+ if(open_flag){break;}
+ if(close_flag){break;}
+ debug_uart.write("Motor2_thread: ------------command?-------------\r\n", 50);
+ wait(1);
}
if(open_flag){
- debug_uart.write("Motor2_thread: --------------open--------------- \r\n", 51);
+ debug_uart.write("Motor2_thread: --------------open---------------\r\n", 50);
motor2_move(MOVING_UP);
- while(Stopper1){;}
- motor2_move(STOP);
- motor2_ready_flag = 1;
+ while(1){
+ if(!Stopper1){i++;};
+ if(i>DEBOUNCE){break;}
+ }
}
if(close_flag){
- debug_uart.write("Motor2_thread: -------------close-------------- \r\n", 50);
+ debug_uart.write("Motor2_thread: -------------close---------------\r\n", 50);
motor2_move(MOVING_DOWN);
while(1){
- if(!Stopper2){i++;};
- if(i>20){break;}
+ if(!Stopper2){i++;};
+ if(i>DEBOUNCE){break;}
}
- i = 0;
- motor2_move(STOP);
- motor2_ready_flag = 1;
}
+ i = 0;
+ motor2_move(STOP);
+ motor2_ready_flag = 1;
while(1){
- if(motor1_ready_flag){break;}else{
- wait(1);
- debug_uart.write("Motor2_thread: --------------------------------- \r\n", 51);
- }
+ if(motor1_ready_flag){break;}
+ debug_uart.write("Motor2_thread: ---check motor1_ready_flag-------\r\n",50);
+ wait(1);
}
+ debug_uart.write("Motor2_thread: -------motor1_ready_flag = 1-------\r\n",50);
motor1_ready_flag = 0;
- debug_uart.write("Motor2_thread: motor2 move to center\r\n", 38);
wait(1);
- ready_flag = 1;
+ debug_uart.write("Motor2_thread: -------motor2 move to center-------\r\n",50);
if(open_flag){
motor2_move(MOVING_DOWN);
}
@@ -306,9 +314,9 @@
}
wait(1.6);
motor2_move(STOP);
- ready_flag = 0;
- debug_uart.write("Motor2_thread: motor2 thread done\r\n", 35);
- pre_sensor_cnt = sensor_cnt;
+ debug_uart.write("Motor2_thread: --------motor2 thread done-------\r\n",50);
+ sensor_cnt = 0;
+ pre_sensor_cnt = 0;
open_flag = 0;
close_flag = 0;
}
@@ -466,9 +474,7 @@
}
}
-void system_init()
-{
-
+void system_init(){
MOTOA1 = 0;
MOTOB1 = 0;
MOTOA2 = 0;
@@ -479,86 +485,76 @@
motor1_ready_flag = 0;
motor2_ready_flag = 0;
sense_value = 0;
- sensor_flag = 1;
ready_flag = 0;
- debug_uart.write("*******************************\r\n",33);
- debug_uart.write("**********LAIWU TECH***********\r\n",33);
- debug_uart.write("*******************************\r\n",33);
- debug_uart.write("system init done, wait 3 seconds to start\r\n",43);
+ debug_uart.write("************************************************\r\n",50);
+ debug_uart.write("******************LAIWU TECH********************\r\n",50);
+ debug_uart.write("************************************************\r\n",50);
+ debug_uart.write("****system init done, wait 3 seconds to start***\r\n",50);
wait(3);
}
int main() {
- int length;
- led1 = 1;
- char len[50];
-
- debug_uart.write("hello world",11);
- WIFI_PWREN = 1;
+ int length;
+ char len[50];
+ system_init();
+ WIFI_PWREN = 1;
+ InterruptIn Hall1(PA_14);
+ Hall1.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event
+ DebugKey.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
+ debug_uart.write("************************************************\r\n",50);
+ debug_uart.write("************Hall sensor init done***************\r\n",50);
+
+ //Thread thread0(osPriorityNormal, 512, nullptr, nullptr);
+ Thread thread1(osPriorityNormal, 512, nullptr, nullptr);
+ //Thread thread2(osPriorityNormal, 512, nullptr, nullptr);
+
+ Thread thread2(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
+ //debug_uart.printf("thread1~~~~~~~~~~~~~~~~\r\n");
+ Thread thread3(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
+ //debug_uart.printf("thread2~~~~~~~~~~~~~~~~\r\n");
+ Thread thread4(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
+ //debug_uart.printf("thread3~~~~~~~~~~~~~~~~\r\n");
+
+ //thread0.start(led0_thread);
+ thread1.start(led1_thread);
+ thread2.start(Power_thread);
+ thread3.start(Motor1_thread);
+ thread4.start(Motor2_thread);
+
+ debug_uart.write("************************************************\r\n",50);
+ debug_uart.write("************Four Threads created****************\r\n",50);
+
+ while(1){
+ if(g_isCloud){
+ debug_uart.write("***********WIFI Status: connected***************\r\n",50);
+ }
+ if (button1_pressed) { // Set when button is pressed
+ button1_pressed = false;
+ debug_uart.write("-------------restore wifi module----------------\r\n",50);
+ wifi_uart.write("restore\r\n", 9);
+ }
+ #if 0
+ if(!open_flag&&!close_flag){
+ if(sensor_cnt>(pre_sensor_cnt+4)){
+ if(cur_cnt<5){
+ open_flag = 1;
+ tar_cnt = cal_cnt;
+ cur_cnt = cur_cnt+sensor_cnt;
+ debug_uart.write("main_thread: ---------------open----------------\r\n", 50);
+ }else{
+ close_flag = 1;
+ tar_cnt = 0;
+ cur_cnt = cur_cnt-sensor_cnt;
+ debug_uart.write("main_thread: ---------------close---------------\r\n", 50);
+ }
+ sprintf(len, "main_thread: cur_cnt = %d. \r\n", cur_cnt);
+ debug_uart.write(len, sizeof(len));
+ }
+ pre_sensor_cnt = sensor_cnt;
+ }
+ #endif
wait(3);
- system_init();
- InterruptIn Hall1(PA_14);
- //InterruptIn Hall2(PB_3);
- Hall1.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event
- DebugKey.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
- //Hall2.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event
- debug_uart.write("Hall sensor init done\r\n", 23);
-
-
- //Thread thread0(osPriorityNormal, 512, nullptr, nullptr);
- Thread thread1(osPriorityNormal, 512, nullptr, nullptr);
- //Thread thread2(osPriorityNormal, 512, nullptr, nullptr);
-
- Thread thread2(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
- //debug_uart.printf("thread1~~~~~~~~~~~~~~~~\r\n");
- Thread thread3(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
- //debug_uart.printf("thread2~~~~~~~~~~~~~~~~\r\n");
- Thread thread4(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
- //debug_uart.printf("thread3~~~~~~~~~~~~~~~~\r\n");
-
- //thread0.start(led0_thread);
- thread1.start(led1_thread);
- thread2.start(Power_thread);
- thread3.start(Motor1_thread);
- thread4.start(Motor2_thread);
-
- debug_uart.write("four threads created\r\n",22);
-
- while(1)
- {
- if(g_isCloud)
- {
- debug_uart.write("connected\r\n",11);
- }
- if(ready_flag){
- m_val += sense_value;
- if(sense_value>0.5){
- motor2_move(STOP);
- }
- }
- if (button1_pressed) { // Set when button is pressed
- button1_pressed = false;
- debug_uart.write("restore wifi module\r\n",21);
- wifi_uart.write("restore\r\n", 9);
- }
- if(!open_flag&&!close_flag){
- if(sensor_cnt>(pre_sensor_cnt+5)){
- if(cur_cnt<5){open_flag = 1;tar_cnt = 90;}else{
- close_flag = 1;
- tar_cnt = 0;
- }
- }
- sprintf(len, "main_thread: sensor_cnt = %d. \r\n", sensor_cnt);
- debug_uart.write(len, sizeof(len));
- sprintf(len, "main_thread: pre_sensor_cnt = %d. \r\n", pre_sensor_cnt);
- debug_uart.write(len, sizeof(len));
- pre_sensor_cnt = sensor_cnt;
- }
- wait(3);
-
- //sprintf(len, "main_thread: current sense value is %.4f. \r\n", sense_value);
- //debug_uart.write(len, sizeof(len));
-
-
- }
+ sprintf(len, "main_thread: cur_cnt = %d. \r\n", cur_cnt);
+ debug_uart.write(len, sizeof(len));
+ }
}
\ No newline at end of file