feng wang
test
Dependencies: mbed-STM32F103C8T6 mbed-rtos mbed-dev
Diff: main.cpp
- Revision:
- 10:ef9fa7e34eff
- Parent:
- 8:a32b83084287
- Child:
- 11:9dc8bbb8dda3
--- a/main.cpp Wed Apr 29 03:14:26 2020 +0000
+++ b/main.cpp Tue May 05 11:15:56 2020 +0000
@@ -1,72 +1,16 @@
#include "mbed.h"
#include "stm32f103c8t6.h"
-#include "string.h"
-#include "main.h"
+#include <string>
#include "stdio.h"
#include "stdlib.h"
-
-DigitalOut MOTOA1(PB_4);
-DigitalOut MOTOB1(PB_5);
-
-DigitalOut MOTOA2(PB_8);
-DigitalOut MOTOB2(PB_9);
-
-AnalogIn SensorCurrent(PA_0);
-
-void motor1_move(uint8_t dir);
-void motor2_move(uint8_t dir);
-
-void system_init();
+#include "rtos.h"
-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
-#define MOVING_UP 1
-#define MOVING_DOWN 2
-#define MOVING_FORWARD 1
-#define MOVING_BACKWARD 2
-#define STOP 0
-
-//---------------------------------------------------
DigitalOut led1(PC_13);
-//Serial pc(PB_10,PB_11);
-
-UARTSerial *_serial;
-
-UARTSerial debug_uart(PB_10, PB_11, 115200);
-UARTSerial wifi_uart(PA_2, PA_3, 115200);
-
-InterruptIn DebugKey(PA_12);
-volatile bool button1_pressed = false; // Used in the main loop
-volatile bool button1_enabled = true; // Used for debouncing
-Timeout button1_timeout; // Used for debouncing
+RawSerial debug_uart(PB_10, PB_11, 115200);
+RawSerial wifi_uart(PA_2, PA_3, 115200);
-// Enables button when bouncing is over
-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
- }
-}
-
-
-//Serial wifi_uart(PA_2, PA_3, 115200);
-//Serial debug_uart(PB_10, PB_11, 115200);
+Timer timer;
char rxBuf[32];
char wifi_rxBuf[32]; //receive msg from xiaomi cloud
@@ -77,488 +21,197 @@
int i = 0;
//---------------------------------------------------
-ATCmdParser *_parser;
-void sensor_capture_cb(void){
- sensor_cnt++;
- if(open_flag){
- cur_cnt++;
- }
- if(close_flag){
- if(cur_cnt>0){
- cur_cnt--;
- }
- }
-}
+string a("");
+string b("");
+
+int flag = 0;
-void Power_thread(){/*detect current*/
- char len[50];
- char i = 0;
- while(true){
- Thread::wait(200); /*unit millisec*/
- sense_value = SensorCurrent.read();
- if((sense_value>0.5)&&sensor_flag){
- sprintf(len, "Power_thread: sense_value = %0.4f > 0.5 \r\n", sense_value);
- debug_uart.write(len, sizeof(len));
- i++;
- if(i>1){
- ov_flag = 1;
- }
- }else{
- i = 0;
+#if 0
+void led1_thread(void const *argument) {
+
+ while (true)
+ {
+ wifi_uart.printf("get_down\r\n");
+ while(1){
+ if(wifi_uart.readable())
+ {
+ char ch2 = wifi_uart.getc();
+ //f((ch2=='\n')||(ch2=='\r'))
+ if(ch2=='\r')
+ {
+ debug_uart.printf("got string from wifi uart: '%s' \r\n", b.c_str());
+ if(!strncmp(b.c_str(),"down none",9))
+ {
+ //debug_uart.printf("--- none\r\n");
+ }
+ if(!(strncmp(b.c_str(),"down set_properties",19)))
+ {
+ debug_uart.printf("--- set_properties\r\n");
+ wifi_uart.printf("result 2 7 0\r\n");
+ }
+ if(!(strncmp(b.c_str(),"down get_properties",19)))
+ {
+ debug_uart.printf("--- get_properties\r\n");
+ //wifi_uart.printf("result 2 7 0\r\n");
+ }
+ if(!strncmp(b.c_str(),"down MIIO_net_change",20))
+ {
+ if((!strncmp(b.c_str()+21, "offline", 7)))
+ {
+ debug_uart.printf("offline\r\n");
+ }
+ if((!strncmp(b.c_str()+21, "local", 5)))
+ {
+ debug_uart.printf("local\r\n");
+ }
+ if((!strncmp(b.c_str()+21, "cloud", 5)))
+ {
+ debug_uart.printf("cloud\r\n");
+ }
+ }
+ b.clear();
+ break;
+ }else{
+ b += ch2;
+ }
+ }
+ }
+ //wait_ms(400);
}
-
- }
}
-void Motor1_thread(){
- char len[50];
- while(true){
- Thread::wait(300); /*unit millisec*/
- if(!init_flag){
- while(1){
- if(motor2_ready_flag){break;}else{
- wait(1);
- debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
+#endif
+
+#if 0
+void led0_thread(void const *argument) {
+ while (1) {
+ if(debug_uart.readable()){
+ char ch1 = debug_uart.getc();
+ if(ch1=='\n'){
+ debug_uart.printf("sent string to wifi uart: '%s' \r\n", a.c_str());
+ wifi_uart.printf("%s\r\n",a.c_str());
+ a.clear();
+ }else{
+ a += ch1;
+ }
}
- }
- motor2_ready_flag = 0;
- sensor_cnt = 0;
- motor1_move(MOVING_FORWARD);
- wait(1);
- sensor_flag = 1; /*enable current monitoring*/
- while(!ov_flag){
- debug_uart.write("Motor1_thread: waiting for ov_flag = 1 \r\n",41);
- wait(1);
- }
- motor1_move(STOP);
- ov_flag = 0;
- motor2_ready_flag = 0;
- cal_cnt = sensor_cnt;
- sprintf(len, "Motor1_thread: primary calibrated cnt is %d \r\n", cal_cnt);
- debug_uart.write(len, sizeof(len));
- wait(1);
- motor1_ready_flag = 1;
- while(1){
- if(motor2_ready_flag){break;}else{
- wait(1);
- debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
+ if(wifi_uart.readable())
+ {
+ char ch2 = wifi_uart.getc();
+ if((ch2=='\n')||(ch2=='\r')){
+ debug_uart.printf("got string from wifi uart: '%s' \r\n", b.c_str());
+ b.clear();
+ }else{
+ b += ch2;
+ }
}
- }
- motor2_ready_flag = 0;
- sensor_cnt = 0;
- motor1_move(MOVING_BACKWARD);
- while(!ov_flag){
- debug_uart.write("Motor1_thread: waiting for ov_flag = 1 \r\n",41);
- wait(1);
- }
- motor1_move(STOP);
- cal_cnt2 = sensor_cnt;
- sensor_cnt = 0;
- cal_cnt = (cal_cnt2+cal_cnt)/2;
- sprintf(len, "Motor1_thread: final calibrated cnt is %d \r\n", cal_cnt);
- debug_uart.write(len, sizeof(len));
- wait(1);
- 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);
- while(1){
- if(motor2_ready_flag){break;}else{
- wait(1);
- debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
- }
- }
- motor2_ready_flag = 0;
- 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;
- }
- }
- }
- 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(STOP);
- if(!ov_flag){
- cur_cnt = tar_cnt;
- }else{
- if(open_flag){cur_cnt = 90;}
- if(close_flag){cur_cnt = 0;}
- }
- ov_flag = 0;
- motor1_ready_flag = 1;
- }
- }
+ //wait(0.5);
+ }
+}
+#endif
+
+void led0_thread(void const *argument) {
+ int err;
+ char rxBuf[32];
+ char wifi_rxBuf[32];
+ char i;
+ int position;
+ char dat[2];
+
+ while (1) {
+ wifi_uart.printf("get_down\r");
+ timer.reset();
+ b.clear();
+ while(timer.read_ms()<5000){
+ if(wifi_uart.readable()){
+ char ch = wifi_uart.getc();
+ if(ch!=0x0d){
+ b += ch;
+ }else{
+ debug_uart.printf("get string: %s \r\n", b.c_str());
+ #if 1
+ if(!strncmp(b.c_str(),"down none",9))
+ {
+ //debug_uart.printf("--- none\r\n");
+ }
+ if(!(strncmp(b.c_str(),"down set_properties",19)))
+ {
+ debug_uart.printf("--- set_properties\r\n");
+ b.erase(0,b.length()-3);
+ position = atoi(b.c_str());
+ debug_uart.printf("position = %d\r\n",position);
+ wifi_uart.printf("result 2 7 0\r\n");
+ b.clear();
+ continue;
+ }
+ if(!(strncmp(b.c_str(),"down get_properties",19)))
+ {
+ debug_uart.printf("--- get_properties\r\n");
+ wifi_uart.printf("result 2 4 0 10 2 6 0 %d 2 7 30\r\n", position);
+ b.clear();
+ continue;
+ }
+ if(!strncmp(b.c_str(),"down MIIO_net_change",20))
+ {
+ if((!strncmp(b.c_str()+21, "offline", 7)))
+ {
+ debug_uart.printf("offline\r\n");
+ }
+ if((!strncmp(b.c_str()+21, "local", 5)))
+ {
+ debug_uart.printf("local\r\n");
+ }
+ if((!strncmp(b.c_str()+21, "cloud", 5)))
+ {
+ debug_uart.printf("cloud\r\n");
+ }
+ }
+ #endif
+ break;
+ }
+ }
+ }
+ while(wifi_uart.readable()){wifi_uart.getc();}
+ wait_ms(400);
+ }
}
-void Motor2_thread(){
- uint8_t sta1,sta2;
- uint8_t i;
- DigitalIn Stopper1(PA_13);
- DigitalIn Stopper2(PA_15);
- char len[50];
- while(true){
- Thread::wait(300); /*unit millisec*/
- if(!init_flag){
- wait(1);
- debug_uart.write("Motor2_thread: motor2 move up\r\n", 31);
- motor2_move(MOVING_UP);
- while(Stopper1){;}
- motor2_move(STOP);
- debug_uart.write("Motor2_thread: Up stopper triggered \r\n",38);
- motor2_ready_flag = 1;
- wait(1);
- while(1){
- if(motor1_ready_flag){break;}else{
- wait(1);debug_uart.write("Motor2_thread: --------------------------------- \r\n",51);
- }
- }
- motor1_ready_flag = 0;
- motor2_move(MOVING_DOWN);
- while(Stopper2){;}
- motor2_move(STOP);
- debug_uart.write("Motor2_thread: Down stopper triggered \r\n", 40);
- motor2_ready_flag = 1;
- while(1){
- if(motor1_ready_flag){break;}else{
- wait(1);debug_uart.write("Motor2_thread: --------------------------------- \r\n",51);
- }
- }
- motor1_ready_flag = 0;
- debug_uart.write("Motor2_thread: motor2 move to center\r\n",38);
- ov_flag = 0;
- ready_flag = 1;
- motor2_move(MOVING_UP);
- wait(1.6);
- 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);
- while(1){
- if(open_flag){break;}
- if(close_flag){break;}
- wait(1);
- debug_uart.write("Motor2_thread: ------------command?------------- \r\n", 51);
- }
- if(open_flag){
- debug_uart.write("Motor2_thread: --------------open--------------- \r\n", 51);
- motor2_move(MOVING_UP);
- while(Stopper1){;}
- motor2_move(STOP);
- motor2_ready_flag = 1;
- }
- if(close_flag){
- debug_uart.write("Motor2_thread: -------------close-------------- \r\n", 50);
- motor2_move(MOVING_DOWN);
- while(1){
- if(!Stopper2){i++;};
- if(i>20){break;}
- }
- 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);
- }
- }
- motor1_ready_flag = 0;
- debug_uart.write("Motor2_thread: motor2 move to center\r\n", 38);
- wait(1);
- ready_flag = 1;
- if(open_flag){
- motor2_move(MOVING_DOWN);
- }
- if(close_flag){
- motor2_move(MOVING_UP);
- }
- 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;
- open_flag = 0;
- close_flag = 0;
+void wifi_debug(void const *argument){
+ while(1){
+ if(wifi_uart.readable()){
+ debug_uart.putc(wifi_uart.getc());
+ }
+ if(debug_uart.readable()){
+ wifi_uart.putc(debug_uart.getc());
}
}
}
-
-
-void led1_thread() {
- int length;
- char len[20];
- char l;
- int position = 0;
- int error = 0;
-
- while (true)
- {
- wifi_uart.write("get_down\r\n", 10);
- if(wifi_uart.readable())
- {
- length = wifi_uart.read(wifi_rxBuf, sizeof(wifi_rxBuf));
- if(!(strncmp(wifi_rxBuf,"down none",9)))
- {
- //if return "down none"
- //debug_uart.write("--- none\r\n",10);
- }
- else if(!(strncmp(wifi_rxBuf,"down set_properties ",20)))
- {
- //if return "down set_properties"
- //debug_uart.write("--- set:\r\n", 10);
- //debug_uart.write(wifi_rxBuf, length);
-
- //set properties
- if(wifi_rxBuf[22] == '7')
- {
- //set target-position
- position = atoi(&wifi_rxBuf[24]);
- sprintf(len, "position:%d\r\n", position);
- debug_uart.write(len, sizeof(len));
- /*add by bob*/
- if(position<=10){//0
- tar_cnt = 0;
- }else if(position<=30){//25%
- tar_cnt = 30;
- }else if(position<=60){//50%
- tar_cnt = 50;
- }else if(position<=85){//75%
- tar_cnt = 70;
- }else{//100%
- tar_cnt = 90;
- }
- if(tar_cnt>cur_cnt){
- open_flag = 1;
- debug_uart.write("open flag = 1\r\n", 15);
- }
- if(tar_cnt<cur_cnt){
- close_flag = 1;
- debug_uart.write("close flag = 1\r\n", 16);
- }
- }
- //report result to cloud
- wifi_uart.write("result 2 7 0\r\n", 14);
- if(wifi_uart.readable())
- {
- //length = wifi_uart.read(wifi_rxBuf, sizeof(wifi_rxBuf));
- //debug_uart.write(wifi_rxBuf, length);
- }
- }
- else if(!(strncmp(wifi_rxBuf,"down get_properties ",20)))
- {
- //if return "down get_properties"
- //debug_uart.write("--- get:\r\n", 10);
- //debug_uart.write(wifi_rxBuf, length);
-
- //report result to cloud
- }
- else if(!(strncmp(wifi_rxBuf,"down MIIO_net_change ",21)))
- {
- //if return "down MIIO_net_change"
- //debug_uart.write(wifi_rxBuf, length);
- //debug_uart.write("--- net:\r\n",10);
- if((!strncmp(&wifi_rxBuf[21], "offline", 7)))
- {
- //连接中
- debug_uart.write("offline\r\n", 9);
- }
- else if((!strncmp(&wifi_rxBuf[21], "local", 5)))
- {
- //连上路由器但未连上服务器
- debug_uart.write("local\r\n", 7);
- }
- else if((!strncmp(&wifi_rxBuf[21], "cloud", 5)))
- {
- //连上小米云服务器
- debug_uart.write("cloud\r\n", 7);
- g_isCloud = 1;
- }
- }
- else
- {
- debug_uart.write(wifi_rxBuf, length);
- }
-
- }
- thread_sleep_for(400);
- }
-}
-
+int main() {
-void led0_thread() {
- int length;
- while (1) {
- if(debug_uart.readable())
- {
- length = debug_uart.read(rxBuf, sizeof(rxBuf));
- debug_uart.write(rxBuf, length);
- wifi_uart.write(rxBuf, length);
- debug_uart.write("111\r",4);
- }
- if(wifi_uart.readable())
- {
- length = wifi_uart.read(rxBuf, sizeof(rxBuf));
- debug_uart.write(rxBuf, length);
- debug_uart.write("222\r",4);
-
- }
- wait(0.5);
- }
-}
-
-
-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.printf("hello world\r\n");
+ led1 = 1;
+ flag = 0;
+
+ wait(3);
- MOTOA1 = 0;
- MOTOB1 = 0;
- MOTOA2 = 0;
- MOTOB2 = 0;
- init_flag = 1;
- cur_cnt = 0;
- cal_cnt = 68;
- 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);
- wait(3);
-}
-
-int main() {
- int length;
- led1 = 1;
- char len[50];
+ Thread thread1(led0_thread, NULL, osPriorityHigh, DEFAULT_STACK_SIZE); /*check the real-time current*/
- debug_uart.write("hello world",11);
- WIFI_PWREN = 1;
- 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);
-
+
+ timer.start();
+
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);
+ wait(1);
+#if 0
+ if(flag){
+ debug_uart.printf("get string: '%s'\r\n", b.c_str());
+ b.clear();
+ while(wifi_uart.readable()){wifi_uart.getc();}
+ flag = 0;
+ debug_uart.printf("sent get_down to module\r\n");
+ wifi_uart.printf("get_down\r\n");
}
- }
- 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));
-
-
+#endif
}
}
\ No newline at end of file