Revision 7:155d5b6a416f, committed 2020-04-21

Comitter:

hankzhang

Date:

Tue Apr 21 11:54:09 2020 +0000

Parent:

6:a9cc2c424cf9

Child:

8:611fef4d4b5d

Commit message:

integrate bob's commits

Changed in this revision

--- a/main.cpp	Tue Apr 21 10:46:19 2020 +0000
+++ b/main.cpp	Tue Apr 21 11:54:09 2020 +0000
@@ -25,131 +25,15 @@
 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;
-    }   
-  }
-}
+#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
 
-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);
@@ -169,8 +53,156 @@
 //char      set_property[] = {"down set_properties "}
 //char      get_property[] = {"down get_properties "}
 int       i = 0;
+//---------------------------------------------------
 
 ATCmdParser *_parser;
+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, "Power_thread: sense_value = %0.4f > 0.5 \r\n", sense_value);
+        debug_uart.write(len, sizeof(len));
+        ov_flag = 1;
+    }   
+  }
+}
+
+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 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 led1_thread() {
     int length;
@@ -276,69 +308,6 @@
 }
 
 
-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;
@@ -365,8 +334,9 @@
   }
 }
 
-void system_init(){
-  debug_uart.baud(115200);
+void system_init()
+{
+
   MOTOA1 = 0;
   MOTOB1 = 0;
   MOTOA2 = 0;
@@ -377,9 +347,60 @@
   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");
+  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;
+    
+    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
+    //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");
+    
+    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);
+    
+    while(1)
+    {
+        debug_uart.write("--main--\r\n",10);
+        if(g_isCloud)
+        {
+            debug_uart.write("connect to xiaomi cloud\r\n",25);
+        }
+        if(ready_flag){
+            m_val += sense_value;   
+            if(sense_value>0.5){
+                motor2_move(STOP);              
+            }
+        }
+        wait(3);
+    }
 }
\ No newline at end of file

--- a/main.h	Tue Apr 21 10:46:19 2020 +0000
+++ b/main.h	Tue Apr 21 11:54:09 2020 +0000
@@ -40,11 +40,11 @@
 //static DigitalIn Stopper1(PA_13);
 //static DigitalIn Stopper2(PA_15);
 
-static DigitalOut MOTOA1(PB_4);
-static DigitalOut MOTOB1(PB_5);
+//static DigitalOut MOTOA1(PB_4);
+//static DigitalOut MOTOB1(PB_5);
 
-static DigitalOut MOTOA2(PB_8);
-static DigitalOut MOTOB2(PB_9);
+//static DigitalOut MOTOA2(PB_8);
+//static DigitalOut MOTOB2(PB_9);
 
 //static DigitalIn Hall1(PA_14);
 static DigitalIn Hall2(PB_3);
@@ -58,7 +58,7 @@
 
 static DigitalOut WIFI_PWREN(PC_13);
 
-static AnalogIn SensorCurrent(PA_0);
+//static AnalogIn SensorCurrent(PA_0);
 static AnalogIn BatteryVoltage(PA_1);
 
 #endif
\ No newline at end of file