feng wang
/
Bob_Curtain_Sample_0506
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed-STM32F103C8T6 mbed-rtos mbed-dev
Embed:
(wiki syntax)
Show/hide line numbers
main.cpp
00001 #include "mbed.h" 00002 #include "stm32f103c8t6.h" 00003 #include <string> 00004 #include "stdio.h" 00005 #include "stdlib.h" 00006 #include "rtos.h" 00007 00008 #define MAX_LENGTH_STEPS 55 00009 #define MIN_LENGTH_STEPS 10 00010 #define MOVING_UP 1 00011 #define MOVING_DOWN 2 00012 #define MOVING_FORWARD 1 00013 #define MOVING_BACKWARD 2 00014 #define STOP 0 00015 #define DEBOUNCE 4 /*4*20ms*/ 00016 00017 DigitalOut MOTOA1(PB_4); 00018 DigitalOut MOTOB1(PB_5); 00019 00020 DigitalOut MOTOA2(PB_8); 00021 DigitalOut MOTOB2(PB_9); 00022 00023 AnalogIn SensorCurrent(PA_0); 00024 00025 void motor1_move(uint8_t dir); 00026 void motor2_move(uint8_t dir); 00027 00028 uint8_t sensor_cnt,cal_cnt, cur_cnt, tar_cnt, pre_sensor_cnt; 00029 float sense_value; 00030 uint8_t ov_flag, init_flag; 00031 uint8_t open_flag,close_flag; 00032 00033 #if 1 /*WIFI related*/ 00034 DigitalOut led1(PC_13); 00035 Serial debug_uart(PB_10, PB_11, 115200); 00036 Serial wifi_uart(PA_2, PA_3, 115200); 00037 Timer timer; /*used by led0_thread*/ 00038 string a(""); /*reserved*/ 00039 string b(""); /*used by led0_thread*/ 00040 char g_isCloud = 0; //flag for connected xiaomi cloud 00041 #endif 00042 00043 Timer timer_m; 00044 int flag = 0; 00045 00046 void Power_thread(void const *argument){/*detect current*/ 00047 char i = 0; 00048 while(true){ 00049 Thread::wait(200); /*unit millisec*/ 00050 sense_value = SensorCurrent.read(); 00051 //debug_uart.printf("dfdfdfdfddfdf\r\n"); 00052 if(sense_value>0.5){ 00053 debug_uart.printf("Power_thread: sense_value = %0.4f > 0.5 \r\n", sense_value); 00054 i++; 00055 if(i>1){ 00056 ov_flag = 1; 00057 } 00058 }else{ 00059 i = 0; 00060 } 00061 } 00062 } 00063 00064 char CheckStopper(int ch){ 00065 DigitalIn Stopper1(PA_13); 00066 DigitalIn Stopper2(PA_15); 00067 timer_m.reset(); 00068 char i = 0; 00069 while(ch == MOVING_UP){ 00070 if(!Stopper1){i++;}; 00071 if(i>DEBOUNCE){break;} 00072 if(timer_m.read_ms()>5000){return 1;} 00073 wait_ms(20); 00074 } 00075 while(ch == MOVING_DOWN){ 00076 if(!Stopper2){i++;}; 00077 if(i>DEBOUNCE){break;} 00078 if(timer_m.read_ms()>5000){return 1;} 00079 wait_ms(20); 00080 } 00081 return 0; 00082 } 00083 00084 void Motor_thread(void const *argument){ 00085 while(true){ 00086 Thread::wait(200); /*unit millisec*/ 00087 if(!init_flag){ 00088 wait(1); 00089 debug_uart.printf("Motor_thread: motor2 move up\r\n"); 00090 motor2_move(MOVING_UP); 00091 if(CheckStopper(MOVING_UP)){ 00092 debug_uart.printf("Motor_thread: motor2 timeout, stop motor2 and finish the calibration\r\n"); 00093 init_flag = 1; 00094 motor2_move(STOP); 00095 continue; 00096 } 00097 motor2_move(STOP); 00098 wait(1); 00099 debug_uart.printf("Motor_thread: motor1 move forward\r\n"); 00100 sensor_cnt = 0; 00101 motor1_move(MOVING_FORWARD); 00102 while(1){ 00103 if(ov_flag){ 00104 motor1_move(STOP); 00105 cal_cnt = sensor_cnt; 00106 ov_flag = 0; 00107 break; 00108 } 00109 } 00110 wait(1); 00111 debug_uart.printf("Motor_thread: motor2 move down\r\n"); 00112 motor2_move(MOVING_DOWN); 00113 if(CheckStopper(MOVING_DOWN)){ 00114 debug_uart.printf("Motor_thread: motor2 timeout, stop motor2 and finish the calibration\r\n"); 00115 init_flag = 1; 00116 motor2_move(STOP); 00117 continue; 00118 } 00119 motor2_move(STOP); 00120 wait(1); 00121 debug_uart.printf("Motor_thread: motor1 move backward\r\n"); 00122 sensor_cnt = 0; 00123 motor1_move(MOVING_BACKWARD); 00124 while(1){ 00125 if(ov_flag){ 00126 motor1_move(STOP); 00127 ov_flag = 0; 00128 debug_uart.printf("Motor_thread: cal_cnt = %d, 1/2(cal_cnt+sensor_cnt)\r\n", (cal_cnt+sensor_cnt)/2); 00129 break; 00130 } 00131 if(sensor_cnt>=cal_cnt){ 00132 motor1_move(STOP); 00133 debug_uart.printf("Motor_thread: cal_cnt = %d\r\n", cal_cnt); 00134 break; 00135 } 00136 } 00137 cur_cnt = 0; 00138 wait(1); 00139 debug_uart.printf("Motor_thread: motor2 move to center\r\n"); 00140 motor2_move(MOVING_UP); 00141 wait(1.6); 00142 motor2_move(STOP); 00143 init_flag = 1; 00144 debug_uart.printf("Motor_thread: auto-curtain length was calibrated sucessfully\r\n"); 00145 }else{ 00146 debug_uart.printf("Motor_thread: auto-curtain is waiting for command\r\n"); 00147 wait(3); 00148 } 00149 } 00150 } 00151 00152 void led0_thread(void const *argument) { 00153 int err; 00154 char rxBuf[32]; 00155 char wifi_rxBuf[32]; 00156 char i; 00157 int position; 00158 char dat[2]; 00159 00160 while (1) { 00161 wifi_uart.printf("get_down\r"); 00162 timer.reset(); 00163 b.clear(); 00164 while(timer.read_ms()<5000){ 00165 if(wifi_uart.readable()){ 00166 char ch = wifi_uart.getc(); 00167 if(ch!=0x0d){ 00168 b += ch; 00169 }else{ 00170 debug_uart.printf("get string: %s \r\n", b.c_str()); 00171 #if 1 00172 if(!strncmp(b.c_str(),"down none",9)) 00173 { 00174 //debug_uart.printf("--- none\r\n"); 00175 } 00176 if(!(strncmp(b.c_str(),"down set_properties",19))) 00177 { 00178 //debug_uart.printf("--- set_properties\r\n"); 00179 b.erase(0,b.length()-3); 00180 position = atoi(b.c_str()); 00181 debug_uart.printf("position = %d\r\n",position); 00182 wifi_uart.printf("result 2 7 0\r\n"); 00183 b.clear(); 00184 continue; 00185 } 00186 if(!(strncmp(b.c_str(),"down get_properties",19))) 00187 { 00188 //debug_uart.printf("--- get_properties\r\n"); 00189 wifi_uart.printf("result 2 4 0 10 2 6 0 %d 2 7 30\r\n", position); 00190 b.clear(); 00191 continue; 00192 } 00193 if(!strncmp(b.c_str(),"down MIIO_net_change",20)) 00194 { 00195 if((!strncmp(b.c_str()+21, "offline", 7))) 00196 { 00197 //debug_uart.printf("offline\r\n"); 00198 } 00199 if((!strncmp(b.c_str()+21, "local", 5))) 00200 { 00201 //debug_uart.printf("local\r\n"); 00202 } 00203 if((!strncmp(b.c_str()+21, "cloud", 5))) 00204 { 00205 //debug_uart.printf("cloud\r\n"); 00206 } 00207 } 00208 #endif 00209 break; 00210 } 00211 } 00212 } 00213 while(wifi_uart.readable()){wifi_uart.getc();} 00214 wait_ms(400); 00215 } 00216 } 00217 00218 void serialprocess(void const *argument){ 00219 while(1){ 00220 if(debug_uart.readable()){ 00221 char ch = debug_uart.getc(); 00222 if(ch!=0x0d){ 00223 a += ch; 00224 }else{ 00225 debug_uart.printf("get command from uart: '%s'\r\n", a.c_str()); 00226 if(!strncmp(a.c_str(),"stp1",4)){ 00227 debug_uart.printf("stepper1 ready\r\n"); 00228 } 00229 if(!strncmp(a.c_str(),"stp2",4)){ 00230 debug_uart.printf("stepper2 ready\r\n"); 00231 } 00232 if(!strncmp(a.c_str(),"ovflag",6)){ 00233 debug_uart.printf("ovflag = 1\r\n"); 00234 } 00235 a.clear(); 00236 } 00237 } 00238 } 00239 } 00240 00241 void serialIRQ(void){ 00242 debug_uart.putc(debug_uart.getc()); 00243 } 00244 00245 void sensor_capture_cb(void){ 00246 sensor_cnt++; 00247 if(open_flag){ 00248 if(cur_cnt<tar_cnt){ 00249 cur_cnt++; 00250 } 00251 } 00252 if(close_flag){ 00253 if(cur_cnt>0){ 00254 cur_cnt--; 00255 } 00256 } 00257 } 00258 00259 void motor1_move(uint8_t dir){/*main motor*/ 00260 if(dir==1){/*forward*/ 00261 MOTOA1 = 0; 00262 MOTOB1 = 1; 00263 }else if(dir==2){/*backward*/ 00264 MOTOA1 = 1; 00265 MOTOB1 = 0; 00266 }else{ /*stop*/ 00267 MOTOA1 = 0; 00268 MOTOB1 = 0; 00269 } 00270 } 00271 00272 void motor2_move(uint8_t dir){/*assistant motor*/ 00273 if(dir==1){/*up*/ 00274 MOTOA2 = 0; 00275 MOTOB2 = 1; 00276 }else if(dir==2){/*down*/ 00277 MOTOA2 = 1; 00278 MOTOB2 = 0; 00279 }else{ /*stop*/ 00280 MOTOA2 = 0; 00281 MOTOB2 = 0; 00282 } 00283 } 00284 00285 00286 void system_init(){ 00287 MOTOA1 = 0; 00288 MOTOB1 = 0; 00289 MOTOA2 = 0; 00290 MOTOB2 = 0; 00291 init_flag = 0; 00292 cur_cnt = 0; 00293 cal_cnt = 0; 00294 sense_value = 0; 00295 debug_uart.printf("\r\n"); 00296 debug_uart.printf("************************************************\r\n"); 00297 debug_uart.printf("******************LAIWU TECH********************\r\n"); 00298 debug_uart.printf("************************************************\r\n"); 00299 debug_uart.printf("****system init done, wait 3 seconds to start***\r\n"); 00300 wait(3); 00301 } 00302 00303 int main() { 00304 00305 system_init(); 00306 00307 led1 = 1; 00308 flag = 0; 00309 00310 wait(3); 00311 00312 InterruptIn Hall1(PA_14); 00313 Hall1.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event 00314 00315 debug_uart.printf("************************************************\r\n"); 00316 debug_uart.printf("***************hall sensor init*****************\r\n"); 00317 00318 00319 //Thread thread2(Power_thread, NULL, osPriorityNormal, DEFAULT_STACK_SIZE); /*check the real-time current*/ 00320 debug_uart.printf("**********************2*************************\r\n"); 00321 //Thread thread3(Motor_thread, NULL, osPriorityNormal, DEFAULT_STACK_SIZE); /*check the real-time current*/ 00322 debug_uart.printf("**********************3*************************\r\n"); 00323 Thread thread1(led0_thread, NULL, osPriorityNormal, DEFAULT_STACK_SIZE); /*check the wifi connection*/ 00324 debug_uart.printf("**********************1*************************\r\n"); 00325 00326 debug_uart.printf("**************three threads init****************\r\n"); 00327 00328 timer.start(); 00329 timer_m.start(); 00330 00331 debug_uart.printf("************************************************\r\n"); 00332 debug_uart.printf("****************two timer init*****************\r\n"); 00333 00334 debug_uart.attach(&serialIRQ, Serial::RxIrq); 00335 00336 while(1) 00337 { 00338 wait(1); 00339 //wifi_uart.printf("get_down\r"); 00340 //debug_uart.printf("************************************************\r\n"); 00341 //debug_uart.printf("********************%%%%%***********************\r\n"); 00342 } 00343 }
Generated on Tue Aug 23 2022 15:03:46 by
1.7.2