feng wang
for hank
Dependencies: mbed-STM32F103C8T6_new
Diff: main.cpp
- Revision:
- 1:0fe432e5dfc4
- Parent:
- 0:217105958c2d
- Child:
- 2:f48b0967b6cc
--- a/main.cpp Wed Feb 20 15:13:20 2013 +0000
+++ b/main.cpp Wed Apr 15 11:36:03 2020 +0000
@@ -1,37 +1,357 @@
#include "mbed.h"
-#include "lcd_driver.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);}
+ //}
+ }
+ }
+}
-DigitalOut myled(LED1);
+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
+ }
+ }
+}
-int main() {
+#endif
+
+int main(){
+ wait(2);
- Serial pc(USBTX, USBRX); // tx, rx
+ 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");
- Lcd_Init();
- pc.printf("Hello mbed\n");
- LCD_clear();
- pc.printf("clear \n");
- Pant(0xf800);
- Pant(0x07e0);
- Pant(0x001f);
- Pant(0xffff);
- Pant(0x0000);
-
- while(1) {
- Pant(0xf800);
- Pant(0x07e0);
- Pant(0x001f);
- Pant(0xffff);
- Pant(0x0000);
-#if 0
- myled = 1;
- wait(0.5);
- myled = 0;
- wait(0.5);
-#endif
+ //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
+
+
+