File content as of revision 6:a9cc2c424cf9:

#include "mbed.h"
#include "stm32f103c8t6.h"
#include "string.h"
#include "main.h"
#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();

uint8_t sensor_cnt,cal_cnt, cal_cnt2, cur_cnt, tar_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;

void sensor_capture_cb(void){
    sensor_cnt++;
    cur_cnt++;
}

void Power_thread(){/*detect current*/
    char len[50];
  while(true){
    Thread::wait(500); /*unit millisec*/
    sense_value = SensorCurrent.read();
    if((sense_value>0.5)&&sensor_flag){
        sprintf(len, "position:%d", position);
        debug_uart.write("Power_thread: sense_value = %0.4f > 0.5 \r\n", sense_value);
        ov_flag = 1;
    }   
  }
}

void Motor1_thread(void const *argument){/*detect current*/
    while(true){
        Thread::wait(300); /*unit millisec*/
        if(!init_flag){
            while(1){
                if(motor2_ready_flag){break;}else{
                    wait(1);debug_uart.printf("Motor1_thread: --------------------------------- \r\n");
                }
            }
            motor2_ready_flag = 0;
            sensor_cnt = 0;
            motor1_move(MOVING_FORWARD);
            wait(1);
            sensor_flag = 1; /*enable current monitoring*/
            while(!ov_flag){debug_uart.printf("Motor1_thread: waiting for ov_flag = 1 \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("Motor1_thread: calibrated cnt is %d \r\n", cal_cnt);  
            wait(1);
            //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("Motor1_thread: --------------------------------- \r\n");
                }
            }
            motor2_ready_flag = 0;
            sensor_cnt = 0;
            //sensor_flag = 0;
            motor1_move(MOVING_BACKWARD);
            debug_uart.printf("Motor1_thread: target position is %d\r\n", cal_cnt-10);
            while(1){
                //if((sensor_cnt>(cal_cnt-5))||ov_flag){break;}else{wait_ms(10);}
                if(sensor_cnt>(cal_cnt-5)){break;}else{wait_ms(10);}
            }
            motor1_move(STOP);
            #if 0
            if(ov_flag){
                debug_uart.printf("Motor1_thread: over current happens\r\n");
                cal_cnt2 = sensor_cnt;
                debug_uart.printf("Motor1_thread: cal_cnt2 = %d\r\n", cal_cnt2);
                sensor_cnt = 0;
                ov_flag = 0;            
            }else{
                debug_uart.printf("Motor1_thread: arrive position %d \r\n", sensor_cnt); 
            }
            #endif
            debug_uart.printf("Motor1_thread: arrive position %d \r\n", sensor_cnt); 
            wait(1);
            motor1_ready_flag = 1;
            debug_uart.printf("Motor1_thread: motor1 thread done\r\n");
        }
    }
}

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){
            wait(1);
            debug_uart.printf("Motor2_thread: motor2 move up\r\n");    
            motor2_move(MOVING_UP);
            while(Stopper1){;}
            motor2_move(STOP);
            debug_uart.printf("Motor2_thread: Up stopper triggered \r\n");        
            motor2_ready_flag = 1;
            wait(1);
            while(1){
                if(motor1_ready_flag){break;}else{
                    wait(1);debug_uart.printf("Motor2_thread: --------------------------------- \r\n"); 
                }
            }
            motor1_ready_flag = 0;
            motor2_move(MOVING_DOWN);
            while(Stopper2){;}
            motor2_move(STOP);
            debug_uart.printf("Motor2_thread: Down stopper triggered \r\n");      
            motor2_ready_flag = 1;
            while(1){
                if(motor1_ready_flag){break;}else{
                    wait(1);debug_uart.printf("Motor2_thread: --------------------------------- \r\n"); 
                }
            }
            debug_uart.printf("Motor2_thread: motor2 move to center\r\n"); 
            ov_flag = 0;
            ready_flag = 1;
            motor2_move(MOVING_UP);
            wait(2.3);
            motor2_move(STOP);
            ready_flag = 0;
            debug_uart.printf("Motor2_thread: motor2 thread done\r\n");
            debug_uart.printf("Main_thread: mean current is =%2.4f \r\n", m_val);  
            init_flag = 1;          
        }
    }
}



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);

//Serial wifi_uart(PA_2, PA_3, 115200);
//Serial debug_uart(PB_10, PB_11, 115200);

char      rxBuf[32];
char      wifi_rxBuf[32];  //receive msg from xiaomi cloud
short     g_isCloud = 0;   //flag for connected xiaomi cloud

//char      set_property[] = {"down set_properties "}
//char      get_property[] = {"down get_properties "}
int       i = 0;

ATCmdParser *_parser;
     
void led1_thread() {
    int length;
    char len[20];
    char l;
    int position = 0;
    int error = 0;
    
    while (true) 
    {
        wifi_uart.write("get_down\r", 9);
        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",8);
            }
            else if(!(strncmp(wifi_rxBuf,"down set_properties ",20)))
            {
                //if return "down set_properties"
                debug_uart.write("--- set:", 8);
                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", position);
                    debug_uart.write(len, sizeof(len));
                }
                
                //report result to cloud
                wifi_uart.write("result 2 7 0\r", 13);
                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:", 8);
                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:",8);
                if((!strncmp(&wifi_rxBuf[21], "offline", 7)))
                {
                    //连接中
                    debug_uart.write("offline\r", 8);
                }
                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", 6);
                }
                else if((!strncmp(&wifi_rxBuf[21], "cloud", 5)))
                {
                    //连上小米云服务器
                    debug_uart.write("cloud\r", 6);
                    g_isCloud = 1;
                }
            }
            else
            {
                debug_uart.write(wifi_rxBuf, length);
            }
            
         }
        thread_sleep_for(400);
    }
}


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);
    }
}


int main() {
    int length;
    led1 = 1;
    
    wait(1);
    
    debug_uart.write("hello world",11);
    
    WIFI_PWREN = 1;   
 
    //Thread thread0(osPriorityNormal, 512, nullptr, nullptr);
    Thread thread1(osPriorityNormal, 512, nullptr, nullptr);
    //Thread thread2(osPriorityNormal, 512, nullptr, nullptr);
    
    //thread0.start(led0_thread);
    thread1.start(led1_thread);
    
    //wifi_serial.printf("model\r\n");
    //thread1.start(led1_thread);
    //thread2.start(led2_thread);
    while(1)
    {
        debug_uart.write("--main--\r\n",10);
        if(g_isCloud)
        {
            debug_uart.write("connect to xiaomi cloud\r\n",25);
        }
        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
    //Hall2.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event
    debug_uart.printf("Hall sensor init done\r\n");

    Thread thread1(Power_thread, NULL, osPriorityNormal, DEFAULT_STACK_SIZE); /*check the real-time current*/
    //debug_uart.printf("thread1~~~~~~~~~~~~~~~~\r\n");
    Thread thread2(Motor1_thread, NULL, osPriorityNormal, DEFAULT_STACK_SIZE); /*check the real-time current*/
    //debug_uart.printf("thread2~~~~~~~~~~~~~~~~\r\n");
    Thread thread3(Motor2_thread, NULL, osPriorityNormal, DEFAULT_STACK_SIZE); /*check the real-time current*/
    //debug_uart.printf("thread3~~~~~~~~~~~~~~~~\r\n");
    
    debug_uart.printf("three threads created\r\n");

    while(1){        
        //debug_uart.printf("~~~~~~~~~~~~~~\r\n");
        if(ready_flag){
            m_val += sense_value;   
            if(sense_value>0.5){
                motor2_move(STOP);              
            }
        }
        //sense_value = SensorCurrent.read(); 
        //if(sense_value > 0.7){
            //debug_uart.printf("Main_thread: WARNING WARNING WARNING current data is higher than 0.7\r\n");
        //}
    }

}

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);
  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;
  ready_flag = 0; 
  debug_uart.printf("*******************************\r\n");
  debug_uart.printf("**********LAIWU TECH***********\r\n");  
  debug_uart.printf("*******************************\r\n");
  debug_uart.printf("system init done, wait 3 seconds to start\r\n");
  wait(3);
}