feng wang
share it to hank
Dependencies: mbed-STM32F103C8T6_new
Diff: main.cpp
- Revision:
- 8:611fef4d4b5d
- Parent:
- 7:155d5b6a416f
--- a/main.cpp Tue Apr 21 11:54:09 2020 +0000
+++ b/main.cpp Fri May 15 13:25:56 2020 +0000
@@ -18,7 +18,7 @@
void system_init();
-uint8_t sensor_cnt,cal_cnt, cal_cnt2, cur_cnt, tar_cnt;
+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;
@@ -38,11 +38,36 @@
//Serial pc(PB_10,PB_11);
-UARTSerial *_serial;
+//UARTSerial *_serial;
UARTSerial debug_uart(PB_10, PB_11, 115200);
UARTSerial wifi_uart(PA_2, PA_3, 115200);
+//Serial debug_uart(PB_10, PB_11, 115200);
+//Serial 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
+
+// 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);
@@ -57,149 +82,240 @@
ATCmdParser *_parser;
void sensor_capture_cb(void){
- sensor_cnt++;
+ sensor_cnt++;
+ if(open_flag){
cur_cnt++;
+ }
+ if(close_flag){
+ if(cur_cnt>0){
+ cur_cnt--;
+ }
+ }
}
void Power_thread(){/*detect current*/
- char len[50];
+ char len[50];
+ char i = 0;
while(true){
- Thread::wait(500); /*unit millisec*/
+ 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));
- ov_flag = 1;
- }
+ 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;
+ }
+
}
}
-void Motor1_thread()
-{
- /*detect current*/
- 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);
- }
- }
- 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);
- //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");
- sprintf(len, "Motor1_thread: calibrated cnt is %d \r\n", cal_cnt);
- debug_uart.write(len, sizeof(len));
- 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.write("Motor1_thread: -------------------------------\r\n",48);
- }
- }
- motor2_ready_flag = 0;
- sensor_cnt = 0;
- //sensor_flag = 0;
- motor1_move(MOVING_BACKWARD);
- sprintf(len, "Motor1_thread: target position is %d\r\n", cal_cnt-10);
- debug_uart.write(len, sizeof(len));
- 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.write("Motor1_thread: over current happens\r\n",37);
- cal_cnt2 = sensor_cnt;
- sprintf(len, "Motor1_thread: cal_cnt2 = %d\r\n", cal_cnt2);
- debug_uart.write(len, sizeof(len));
- sensor_cnt = 0;
- ov_flag = 0;
- }else{
- sprintf(len, "Motor1_thread: arrive position %d \r\n", sensor_cnt);
- debug_uart.write(len, sizeof(len));
- }
- #endif
- sprintf(len, "Motor1_thread: arrive position %d \r\n", sensor_cnt);
- debug_uart.write(len, sizeof(len));
- wait(1);
- motor1_ready_flag = 1;
- debug_uart.write("Motor1_thread: motor1 thread done\r\n", 35);
+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);
+ }
+ }
+ 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);
}
- }
+ }
+ 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;
+ }
+ }
}
-void Motor2_thread()
-{
- /*detect current*/
- uint8_t sta1,sta2;
- 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);
- }
- }
- debug_uart.write("Motor2_thread: motor2 move to center\r\n",38);
- ov_flag = 0;
- ready_flag = 1;
- motor2_move(MOVING_UP);
- wait(2.3);
- 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));
- init_flag = 1;
+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;
}
+ }
}
@@ -213,42 +329,63 @@
while (true)
{
- wifi_uart.write("get_down\r", 9);
+ 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",8);
+ 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:", 8);
+ 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", position);
- debug_uart.write(len, sizeof(len));
- }
-
+ //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", 13);
+ //wifi_uart.write("result 2 7 0\r\n", 14);
+ #if 0
if(wifi_uart.readable())
{
- length = wifi_uart.read(wifi_rxBuf, sizeof(wifi_rxBuf));
- debug_uart.write(wifi_rxBuf, length);
+ //length = wifi_uart.read(wifi_rxBuf, sizeof(wifi_rxBuf));
+ //debug_uart.write(wifi_rxBuf, length);
}
+ #endif
}
else if(!(strncmp(wifi_rxBuf,"down get_properties ",20)))
{
//if return "down get_properties"
- debug_uart.write("--- get:", 8);
+ debug_uart.write("--- get:\r\n", 10);
debug_uart.write(wifi_rxBuf, length);
//report result to cloud
@@ -257,21 +394,21 @@
{
//if return "down MIIO_net_change"
debug_uart.write(wifi_rxBuf, length);
- debug_uart.write("--- net:",8);
+ debug_uart.write("--- net:\r\n",10);
if((!strncmp(&wifi_rxBuf[21], "offline", 7)))
{
//连接中
- debug_uart.write("offline\r", 8);
+ 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", 6);
+ 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", 6);
+ debug_uart.write("cloud\r\n", 7);
g_isCloud = 1;
}
}
@@ -281,7 +418,8 @@
}
}
- thread_sleep_for(400);
+ //thread_sleep_for(400);
+ wait_ms(400);
}
}
@@ -341,11 +479,13 @@
MOTOB1 = 0;
MOTOA2 = 0;
MOTOB2 = 0;
- init_flag = 0;
+ init_flag = 1;
+ cur_cnt = 0;
+ cal_cnt = 68;
motor1_ready_flag = 0;
motor2_ready_flag = 0;
sense_value = 0;
- sensor_flag = 0;
+ sensor_flag = 1;
ready_flag = 0;
debug_uart.write("*******************************\r\n",33);
debug_uart.write("**********LAIWU TECH***********\r\n",33);
@@ -357,6 +497,7 @@
int main() {
int length;
led1 = 1;
+ char len[50];
debug_uart.write("hello world",11);
WIFI_PWREN = 1;
@@ -365,6 +506,7 @@
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);
@@ -379,21 +521,20 @@
//debug_uart.printf("thread2~~~~~~~~~~~~~~~~\r\n");
Thread thread4(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
//debug_uart.printf("thread3~~~~~~~~~~~~~~~~\r\n");
-
- debug_uart.write("four threads created\r\n",22);
-
+
//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)
{
- debug_uart.write("--main--\r\n",10);
if(g_isCloud)
{
- debug_uart.write("connect to xiaomi cloud\r\n",25);
+ debug_uart.write("connected\r\n",11);
}
if(ready_flag){
m_val += sense_value;
@@ -401,6 +542,29 @@
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));
+
+
}
}
\ No newline at end of file