Revision 8:611fef4d4b5d, committed 2020-05-15

Comitter:

bbw

Date:

Fri May 15 13:25:56 2020 +0000

Parent:

7:155d5b6a416f

Commit message:

backup for check

Changed in this revision

--- 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

--- a/main.h	Tue Apr 21 11:54:09 2020 +0000
+++ b/main.h	Fri May 15 13:25:56 2020 +0000
@@ -54,7 +54,7 @@
 //static Serial debug_uart(PB_10, PB_11);
 
 static InterruptIn FrontKey(PA_4);
-static InterruptIn DebugKey(PA_12);
+//static InterruptIn DebugKey(PA_12);
 
 static DigitalOut WIFI_PWREN(PC_13);