hank zhang / Mbed OS Hank_Curtain_Sample_0427_backup

for bob

Dependencies:   mbed-STM32F103C8T6_new

main.cpp@12:1a79d1635720, 2020-05-24 (annotated)

Committer:
hankzhang
Date:
Sun May 24 03:28:40 2020 +0000
Revision:
12:1a79d1635720
Parent:
11:9b630cb10423
Child:
13:6fac0b6a946f
for bob

Who changed what in which revision?

UserRevisionLine numberNew contents of line
techneo 0:217105958c2d 1 #include "mbed.h"
bbw 1:0fe432e5dfc4 2 #include "stm32f103c8t6.h"
hankzhang 3:30d61fa10b98 3 #include "string.h"
hankzhang 3:30d61fa10b98 4 #include "main.h"
hankzhang 4:864bb8bde75c 5 #include "stdio.h"
hankzhang 4:864bb8bde75c 6 #include "stdlib.h"
bbw 1:0fe432e5dfc4 7
bbw 6:a9cc2c424cf9 8 DigitalOut MOTOA1(PB_4);
bbw 6:a9cc2c424cf9 9 DigitalOut MOTOB1(PB_5);
bbw 6:a9cc2c424cf9 10
bbw 6:a9cc2c424cf9 11 DigitalOut MOTOA2(PB_8);
bbw 6:a9cc2c424cf9 12 DigitalOut MOTOB2(PB_9);
bbw 6:a9cc2c424cf9 13
bbw 6:a9cc2c424cf9 14 AnalogIn SensorCurrent(PA_0);
bbw 6:a9cc2c424cf9 15
bbw 6:a9cc2c424cf9 16 void motor1_move(uint8_t dir);
bbw 6:a9cc2c424cf9 17 void motor2_move(uint8_t dir);
bbw 6:a9cc2c424cf9 18
bbw 6:a9cc2c424cf9 19 void system_init();
hankzhang 9:98b398a0e357 20 static uint16_t cur_cnt = 0;
hankzhang 9:98b398a0e357 21 static uint16_t g_tmp_cur_cnt = 0;
hankzhang 9:98b398a0e357 22 uint8_t sensor_cnt,cal_cnt, cal_cnt2, tar_cnt, pre_sensor_cnt;
bbw 6:a9cc2c424cf9 23 //uint8_t dir;
bbw 6:a9cc2c424cf9 24 float sense_value;
bbw 6:a9cc2c424cf9 25 uint8_t ov_flag, init_flag, motor1_ready_flag, motor2_ready_flag, sensor_flag, ready_flag;
bbw 6:a9cc2c424cf9 26 uint8_t open_flag,close_flag;
bbw 6:a9cc2c424cf9 27 float m_val = 0;
bbw 6:a9cc2c424cf9 28
hankzhang 7:155d5b6a416f 29 #define MAX_LENGTH_STEPS 55
hankzhang 7:155d5b6a416f 30 #define MIN_LENGTH_STEPS 10
hankzhang 7:155d5b6a416f 31 #define MOVING_UP 1
hankzhang 7:155d5b6a416f 32 #define MOVING_DOWN 2
hankzhang 7:155d5b6a416f 33 #define MOVING_FORWARD 1
hankzhang 7:155d5b6a416f 34 #define MOVING_BACKWARD 2
hankzhang 7:155d5b6a416f 35 #define STOP 0
bbw 6:a9cc2c424cf9 36
hankzhang 7:155d5b6a416f 37 //---------------------------------------------------
hankzhang 2:f48b0967b6cc 38 DigitalOut led1(PC_13);
techneo 0:217105958c2d 39
hankzhang 3:30d61fa10b98 40 //Serial pc(PB_10,PB_11);
hankzhang 3:30d61fa10b98 41
bbw 8:611fef4d4b5d 42 //UARTSerial *_serial;
bbw 1:0fe432e5dfc4 43
hankzhang 3:30d61fa10b98 44 UARTSerial debug_uart(PB_10, PB_11, 115200);
hankzhang 3:30d61fa10b98 45 UARTSerial wifi_uart(PA_2, PA_3, 115200);
hankzhang 3:30d61fa10b98 46
bbw 8:611fef4d4b5d 47 //Serial debug_uart(PB_10, PB_11, 115200);
bbw 8:611fef4d4b5d 48 //Serial wifi_uart(PA_2, PA_3, 115200);
bbw 8:611fef4d4b5d 49
bbw 8:611fef4d4b5d 50 InterruptIn DebugKey(PA_12);
hankzhang 12:1a79d1635720 51 //InterruptIn DebugKey(PA_4);
hankzhang 12:1a79d1635720 52
bbw 8:611fef4d4b5d 53 volatile bool button1_pressed = false; // Used in the main loop
bbw 8:611fef4d4b5d 54 volatile bool button1_enabled = true; // Used for debouncing
bbw 8:611fef4d4b5d 55 Timeout button1_timeout; // Used for debouncing
bbw 8:611fef4d4b5d 56
bbw 8:611fef4d4b5d 57 // Enables button when bouncing is over
bbw 8:611fef4d4b5d 58 void button1_enabled_cb(void)
bbw 8:611fef4d4b5d 59 {
bbw 8:611fef4d4b5d 60 button1_enabled = true;
bbw 8:611fef4d4b5d 61 }
bbw 8:611fef4d4b5d 62
bbw 8:611fef4d4b5d 63 // ISR handling button pressed event
bbw 8:611fef4d4b5d 64 void button1_onpressed_cb(void)
bbw 8:611fef4d4b5d 65 {
bbw 8:611fef4d4b5d 66 if (button1_enabled) { // Disabled while the button is bouncing
bbw 8:611fef4d4b5d 67 button1_enabled = false;
bbw 8:611fef4d4b5d 68 button1_pressed = true; // To be read by the main loop
bbw 8:611fef4d4b5d 69 button1_timeout.attach(callback(button1_enabled_cb), 0.3); // Debounce time 300 ms
bbw 8:611fef4d4b5d 70 }
bbw 8:611fef4d4b5d 71 }
bbw 8:611fef4d4b5d 72
bbw 8:611fef4d4b5d 73
hankzhang 4:864bb8bde75c 74 //Serial wifi_uart(PA_2, PA_3, 115200);
hankzhang 4:864bb8bde75c 75 //Serial debug_uart(PB_10, PB_11, 115200);
hankzhang 4:864bb8bde75c 76
hankzhang 4:864bb8bde75c 77 char rxBuf[32];
hankzhang 4:864bb8bde75c 78 char wifi_rxBuf[32]; //receive msg from xiaomi cloud
hankzhang 4:864bb8bde75c 79 short g_isCloud = 0; //flag for connected xiaomi cloud
hankzhang 4:864bb8bde75c 80
hankzhang 4:864bb8bde75c 81 //char set_property[] = {"down set_properties "}
hankzhang 4:864bb8bde75c 82 //char get_property[] = {"down get_properties "}
hankzhang 3:30d61fa10b98 83 int i = 0;
hankzhang 7:155d5b6a416f 84 //---------------------------------------------------
hankzhang 3:30d61fa10b98 85
hankzhang 3:30d61fa10b98 86 ATCmdParser *_parser;
hankzhang 7:155d5b6a416f 87 void sensor_capture_cb(void){
hankzhang 9:98b398a0e357 88 char len[15];
bbw 8:611fef4d4b5d 89 sensor_cnt++;
bbw 8:611fef4d4b5d 90 if(open_flag){
hankzhang 9:98b398a0e357 91 if(cur_cnt<255){
hankzhang 9:98b398a0e357 92 cur_cnt++;
hankzhang 9:98b398a0e357 93
hankzhang 9:98b398a0e357 94 }
bbw 8:611fef4d4b5d 95 }
bbw 8:611fef4d4b5d 96 if(close_flag){
bbw 8:611fef4d4b5d 97 if(cur_cnt>0){
bbw 8:611fef4d4b5d 98 cur_cnt--;
bbw 8:611fef4d4b5d 99 }
bbw 8:611fef4d4b5d 100 }
hankzhang 7:155d5b6a416f 101 }
hankzhang 7:155d5b6a416f 102
hankzhang 7:155d5b6a416f 103 void Power_thread(){/*detect current*/
bbw 8:611fef4d4b5d 104 char len[50];
bbw 8:611fef4d4b5d 105 char i = 0;
hankzhang 7:155d5b6a416f 106 while(true){
bbw 8:611fef4d4b5d 107 Thread::wait(200); /*unit millisec*/
hankzhang 7:155d5b6a416f 108 sense_value = SensorCurrent.read();
hankzhang 7:155d5b6a416f 109 if((sense_value>0.5)&&sensor_flag){
bbw 8:611fef4d4b5d 110 sprintf(len, "Power_thread: sense_value = %0.4f > 0.5 \r\n", sense_value);
bbw 8:611fef4d4b5d 111 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 112 i++;
bbw 8:611fef4d4b5d 113 if(i>1){
bbw 8:611fef4d4b5d 114 ov_flag = 1;
bbw 8:611fef4d4b5d 115 }
bbw 8:611fef4d4b5d 116 }else{
bbw 8:611fef4d4b5d 117 i = 0;
bbw 8:611fef4d4b5d 118 }
bbw 8:611fef4d4b5d 119
hankzhang 7:155d5b6a416f 120 }
hankzhang 7:155d5b6a416f 121 }
hankzhang 7:155d5b6a416f 122
bbw 8:611fef4d4b5d 123 void Motor1_thread(){
bbw 8:611fef4d4b5d 124 char len[50];
bbw 8:611fef4d4b5d 125 while(true){
bbw 8:611fef4d4b5d 126 Thread::wait(300); /*unit millisec*/
bbw 8:611fef4d4b5d 127 if(!init_flag){
bbw 8:611fef4d4b5d 128 while(1){
bbw 8:611fef4d4b5d 129 if(motor2_ready_flag){break;}else{
bbw 8:611fef4d4b5d 130 wait(1);
bbw 8:611fef4d4b5d 131 debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
bbw 8:611fef4d4b5d 132 }
bbw 8:611fef4d4b5d 133 }
bbw 8:611fef4d4b5d 134 motor2_ready_flag = 0;
bbw 8:611fef4d4b5d 135 sensor_cnt = 0;
bbw 8:611fef4d4b5d 136 motor1_move(MOVING_FORWARD);
bbw 8:611fef4d4b5d 137 wait(1);
hankzhang 11:9b630cb10423 138 //sensor_flag = 1; /*enable current monitoring*/
bbw 8:611fef4d4b5d 139 while(!ov_flag){
bbw 8:611fef4d4b5d 140 debug_uart.write("Motor1_thread: waiting for ov_flag = 1 \r\n",41);
hankzhang 11:9b630cb10423 141 wait_ms(100);
bbw 8:611fef4d4b5d 142 }
bbw 8:611fef4d4b5d 143 motor1_move(STOP);
bbw 8:611fef4d4b5d 144 ov_flag = 0;
bbw 8:611fef4d4b5d 145 motor2_ready_flag = 0;
bbw 8:611fef4d4b5d 146 cal_cnt = sensor_cnt;
bbw 8:611fef4d4b5d 147 sprintf(len, "Motor1_thread: primary calibrated cnt is %d \r\n", cal_cnt);
bbw 8:611fef4d4b5d 148 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 149 wait(1);
bbw 8:611fef4d4b5d 150 motor1_ready_flag = 1;
bbw 8:611fef4d4b5d 151 while(1){
bbw 8:611fef4d4b5d 152 if(motor2_ready_flag){break;}else{
bbw 8:611fef4d4b5d 153 wait(1);
bbw 8:611fef4d4b5d 154 debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
hankzhang 7:155d5b6a416f 155 }
bbw 8:611fef4d4b5d 156 }
bbw 8:611fef4d4b5d 157 motor2_ready_flag = 0;
bbw 8:611fef4d4b5d 158 sensor_cnt = 0;
bbw 8:611fef4d4b5d 159 motor1_move(MOVING_BACKWARD);
hankzhang 11:9b630cb10423 160 while(1){
hankzhang 11:9b630cb10423 161 //debug_uart.write("Motor1_thread: waiting for ov_flag = 1 \r\n",41);
hankzhang 11:9b630cb10423 162 wait_ms(100);
hankzhang 11:9b630cb10423 163 if(ov_flag){
hankzhang 11:9b630cb10423 164 break;
hankzhang 11:9b630cb10423 165 }
bbw 8:611fef4d4b5d 166 }
bbw 8:611fef4d4b5d 167 motor1_move(STOP);
bbw 8:611fef4d4b5d 168 cal_cnt2 = sensor_cnt;
bbw 8:611fef4d4b5d 169 sensor_cnt = 0;
bbw 8:611fef4d4b5d 170 cal_cnt = (cal_cnt2+cal_cnt)/2;
hankzhang 11:9b630cb10423 171 cal_cnt -= 5;
bbw 8:611fef4d4b5d 172 sprintf(len, "Motor1_thread: final calibrated cnt is %d \r\n", cal_cnt);
bbw 8:611fef4d4b5d 173 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 174 wait(1);
bbw 8:611fef4d4b5d 175 motor1_ready_flag = 1;
hankzhang 11:9b630cb10423 176 while(!init_flag){
hankzhang 11:9b630cb10423 177 debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
hankzhang 11:9b630cb10423 178 wait(1);
hankzhang 11:9b630cb10423 179 }
bbw 8:611fef4d4b5d 180 }else{
bbw 8:611fef4d4b5d 181 debug_uart.write("Motor1_thread: calibration done, wait for motor2 action.\r\n", 58);
bbw 8:611fef4d4b5d 182 while(1){
bbw 8:611fef4d4b5d 183 if(motor2_ready_flag){break;}else{
bbw 8:611fef4d4b5d 184 wait(1);
bbw 8:611fef4d4b5d 185 debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
bbw 8:611fef4d4b5d 186 }
bbw 8:611fef4d4b5d 187 }
bbw 8:611fef4d4b5d 188 motor2_ready_flag = 0;
bbw 8:611fef4d4b5d 189 if(open_flag){
bbw 8:611fef4d4b5d 190 motor1_move(MOVING_FORWARD);
bbw 8:611fef4d4b5d 191 while(1){
hankzhang 9:98b398a0e357 192 #if 0
bbw 8:611fef4d4b5d 193 sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
bbw 8:611fef4d4b5d 194 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 195 sprintf(len, "Motor1_thread: tar_cnt is %d \r\n", tar_cnt);
bbw 8:611fef4d4b5d 196 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 197 debug_uart.write("Motor1_thread: **************************** \r\n", 46);
hankzhang 9:98b398a0e357 198 wait_ms(500);
hankzhang 9:98b398a0e357 199 #endif
hankzhang 9:98b398a0e357 200 wait_ms(100);
bbw 8:611fef4d4b5d 201 if(cur_cnt>=tar_cnt){
hankzhang 9:98b398a0e357 202 debug_uart.write("Motor1_thread: cur_cnt>=tar_cnt\r\n", 33);
bbw 8:611fef4d4b5d 203 break;
bbw 8:611fef4d4b5d 204 }
bbw 8:611fef4d4b5d 205 if(ov_flag){
bbw 8:611fef4d4b5d 206 break;
bbw 8:611fef4d4b5d 207 }
bbw 8:611fef4d4b5d 208 }
bbw 8:611fef4d4b5d 209 }
bbw 8:611fef4d4b5d 210 if(close_flag){
bbw 8:611fef4d4b5d 211 motor1_move(MOVING_BACKWARD);
bbw 8:611fef4d4b5d 212 while(1){
hankzhang 9:98b398a0e357 213 #if 0
bbw 8:611fef4d4b5d 214 sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
bbw 8:611fef4d4b5d 215 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 216 sprintf(len, "Motor1_thread: tar_cnt is %d \r\n", tar_cnt);
bbw 8:611fef4d4b5d 217 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 218 debug_uart.write("Motor1_thread: **************************** \r\n", 46);
bbw 8:611fef4d4b5d 219 wait(1);
hankzhang 9:98b398a0e357 220 #endif
hankzhang 9:98b398a0e357 221 wait_ms(100);
bbw 8:611fef4d4b5d 222 if(cur_cnt<=tar_cnt){
hankzhang 9:98b398a0e357 223 debug_uart.write("Motor1_thread: cur_cnt<=tar_cnt\r\n", 33);
bbw 8:611fef4d4b5d 224 break;
bbw 8:611fef4d4b5d 225 }
bbw 8:611fef4d4b5d 226 if(ov_flag){
bbw 8:611fef4d4b5d 227 break;
bbw 8:611fef4d4b5d 228 }
bbw 8:611fef4d4b5d 229 }
bbw 8:611fef4d4b5d 230 }
bbw 8:611fef4d4b5d 231 motor1_move(STOP);
bbw 8:611fef4d4b5d 232 if(!ov_flag){
bbw 8:611fef4d4b5d 233 cur_cnt = tar_cnt;
hankzhang 9:98b398a0e357 234 debug_uart.write("Motor1_thread: *******cur_cnt = tar_cnt******** \r\n", 49);
bbw 8:611fef4d4b5d 235 }else{
hankzhang 11:9b630cb10423 236 if(open_flag){cur_cnt = cal_cnt;debug_uart.write("Motor1_thread: !!!!1\r\n", 22); }
hankzhang 9:98b398a0e357 237 if(close_flag){cur_cnt = 0;debug_uart.write("Motor1_thread: !!!!2\r\n", 22); }
bbw 8:611fef4d4b5d 238 }
bbw 8:611fef4d4b5d 239 ov_flag = 0;
bbw 8:611fef4d4b5d 240 motor1_ready_flag = 1;
bbw 8:611fef4d4b5d 241 }
bbw 8:611fef4d4b5d 242 }
hankzhang 7:155d5b6a416f 243 }
hankzhang 7:155d5b6a416f 244
bbw 8:611fef4d4b5d 245 void Motor2_thread(){
bbw 8:611fef4d4b5d 246 uint8_t sta1,sta2;
bbw 8:611fef4d4b5d 247 uint8_t i;
bbw 8:611fef4d4b5d 248 DigitalIn Stopper1(PA_13);
bbw 8:611fef4d4b5d 249 DigitalIn Stopper2(PA_15);
bbw 8:611fef4d4b5d 250 char len[50];
bbw 8:611fef4d4b5d 251 while(true){
bbw 8:611fef4d4b5d 252 Thread::wait(300); /*unit millisec*/
bbw 8:611fef4d4b5d 253 if(!init_flag){
bbw 8:611fef4d4b5d 254 wait(1);
bbw 8:611fef4d4b5d 255 debug_uart.write("Motor2_thread: motor2 move up\r\n", 31);
bbw 8:611fef4d4b5d 256 motor2_move(MOVING_UP);
hankzhang 11:9b630cb10423 257 i = 0;
hankzhang 11:9b630cb10423 258 while(1){
hankzhang 11:9b630cb10423 259 if(!Stopper1){i++;};
hankzhang 11:9b630cb10423 260 if(i>10){break;}
hankzhang 11:9b630cb10423 261 }
bbw 8:611fef4d4b5d 262 motor2_move(STOP);
bbw 8:611fef4d4b5d 263 debug_uart.write("Motor2_thread: Up stopper triggered \r\n",38);
bbw 8:611fef4d4b5d 264 motor2_ready_flag = 1;
bbw 8:611fef4d4b5d 265 wait(1);
bbw 8:611fef4d4b5d 266 while(1){
bbw 8:611fef4d4b5d 267 if(motor1_ready_flag){break;}else{
bbw 8:611fef4d4b5d 268 wait(1);debug_uart.write("Motor2_thread: --------------------------------- \r\n",51);
bbw 8:611fef4d4b5d 269 }
bbw 8:611fef4d4b5d 270 }
bbw 8:611fef4d4b5d 271 motor1_ready_flag = 0;
bbw 8:611fef4d4b5d 272 motor2_move(MOVING_DOWN);
hankzhang 11:9b630cb10423 273 i = 0;
hankzhang 11:9b630cb10423 274 while(1){
hankzhang 11:9b630cb10423 275 if(!Stopper2){i++;};
hankzhang 11:9b630cb10423 276 if(i>10){break;}
hankzhang 11:9b630cb10423 277 }
bbw 8:611fef4d4b5d 278 motor2_move(STOP);
bbw 8:611fef4d4b5d 279 debug_uart.write("Motor2_thread: Down stopper triggered \r\n", 40);
bbw 8:611fef4d4b5d 280 motor2_ready_flag = 1;
bbw 8:611fef4d4b5d 281 while(1){
bbw 8:611fef4d4b5d 282 if(motor1_ready_flag){break;}else{
bbw 8:611fef4d4b5d 283 wait(1);debug_uart.write("Motor2_thread: --------------------------------- \r\n",51);
hankzhang 7:155d5b6a416f 284 }
bbw 8:611fef4d4b5d 285 }
bbw 8:611fef4d4b5d 286 motor1_ready_flag = 0;
bbw 8:611fef4d4b5d 287 debug_uart.write("Motor2_thread: motor2 move to center\r\n",38);
bbw 8:611fef4d4b5d 288 ov_flag = 0;
bbw 8:611fef4d4b5d 289 motor2_move(MOVING_UP);
bbw 8:611fef4d4b5d 290 wait(1.6);
bbw 8:611fef4d4b5d 291 motor2_move(STOP);
bbw 8:611fef4d4b5d 292 debug_uart.write("Motor2_thread: motor2 thread done\r\n",35);
bbw 8:611fef4d4b5d 293 cur_cnt = 0;
hankzhang 11:9b630cb10423 294 sensor_cnt = 0;
hankzhang 11:9b630cb10423 295 pre_sensor_cnt = 0;
bbw 8:611fef4d4b5d 296 init_flag = 1;
bbw 8:611fef4d4b5d 297 }else{
bbw 8:611fef4d4b5d 298 debug_uart.write("Motor2_thread: calibration done.wait for open/close flag\r\n", 58);
bbw 8:611fef4d4b5d 299 while(1){
bbw 8:611fef4d4b5d 300 if(open_flag){break;}
bbw 8:611fef4d4b5d 301 if(close_flag){break;}
bbw 8:611fef4d4b5d 302 wait(1);
bbw 8:611fef4d4b5d 303 debug_uart.write("Motor2_thread: ------------command?------------- \r\n", 51);
bbw 8:611fef4d4b5d 304 }
hankzhang 9:98b398a0e357 305 g_tmp_cur_cnt = cur_cnt;
bbw 8:611fef4d4b5d 306 if(open_flag){
bbw 8:611fef4d4b5d 307 debug_uart.write("Motor2_thread: --------------open--------------- \r\n", 51);
hankzhang 9:98b398a0e357 308 i = 0;
bbw 8:611fef4d4b5d 309 motor2_move(MOVING_UP);
hankzhang 9:98b398a0e357 310 while(1){
hankzhang 9:98b398a0e357 311 if(!Stopper1){i++;};
hankzhang 9:98b398a0e357 312 if(i>10){break;}
hankzhang 9:98b398a0e357 313 }
bbw 8:611fef4d4b5d 314 motor2_move(STOP);
hankzhang 9:98b398a0e357 315 debug_uart.write("Motor2_thread: ------------open done------------- \r\n", 51);
hankzhang 9:98b398a0e357 316 wait(1);
hankzhang 9:98b398a0e357 317 ov_flag = 0;
bbw 8:611fef4d4b5d 318 motor2_ready_flag = 1;
bbw 8:611fef4d4b5d 319 }
bbw 8:611fef4d4b5d 320 if(close_flag){
bbw 8:611fef4d4b5d 321 debug_uart.write("Motor2_thread: -------------close-------------- \r\n", 50);
hankzhang 9:98b398a0e357 322 i = 0;
bbw 8:611fef4d4b5d 323 motor2_move(MOVING_DOWN);
bbw 8:611fef4d4b5d 324 while(1){
bbw 8:611fef4d4b5d 325 if(!Stopper2){i++;};
hankzhang 9:98b398a0e357 326 if(i>10){break;}
hankzhang 9:98b398a0e357 327 }
bbw 8:611fef4d4b5d 328 motor2_move(STOP);
hankzhang 9:98b398a0e357 329 wait(1);
hankzhang 9:98b398a0e357 330 ov_flag = 0;
bbw 8:611fef4d4b5d 331 motor2_ready_flag = 1;
hankzhang 9:98b398a0e357 332 }
hankzhang 9:98b398a0e357 333 cur_cnt = g_tmp_cur_cnt;
hankzhang 9:98b398a0e357 334
bbw 8:611fef4d4b5d 335 while(1){
bbw 8:611fef4d4b5d 336 if(motor1_ready_flag){break;}else{
bbw 8:611fef4d4b5d 337 wait(1);
bbw 8:611fef4d4b5d 338 debug_uart.write("Motor2_thread: --------------------------------- \r\n", 51);
bbw 8:611fef4d4b5d 339 }
bbw 8:611fef4d4b5d 340 }
bbw 8:611fef4d4b5d 341 motor1_ready_flag = 0;
bbw 8:611fef4d4b5d 342 debug_uart.write("Motor2_thread: motor2 move to center\r\n", 38);
bbw 8:611fef4d4b5d 343 wait(1);
bbw 8:611fef4d4b5d 344 ready_flag = 1;
hankzhang 9:98b398a0e357 345 g_tmp_cur_cnt = cur_cnt;
hankzhang 9:98b398a0e357 346 if(open_flag){
bbw 8:611fef4d4b5d 347 motor2_move(MOVING_DOWN);
bbw 8:611fef4d4b5d 348 }
bbw 8:611fef4d4b5d 349 if(close_flag){
bbw 8:611fef4d4b5d 350 motor2_move(MOVING_UP);
bbw 8:611fef4d4b5d 351 }
bbw 8:611fef4d4b5d 352 wait(1.6);
bbw 8:611fef4d4b5d 353 motor2_move(STOP);
hankzhang 9:98b398a0e357 354 cur_cnt = g_tmp_cur_cnt;
bbw 8:611fef4d4b5d 355 ready_flag = 0;
bbw 8:611fef4d4b5d 356 debug_uart.write("Motor2_thread: motor2 thread done\r\n", 35);
bbw 8:611fef4d4b5d 357 pre_sensor_cnt = sensor_cnt;
bbw 8:611fef4d4b5d 358 open_flag = 0;
bbw 8:611fef4d4b5d 359 close_flag = 0;
hankzhang 7:155d5b6a416f 360 }
bbw 8:611fef4d4b5d 361 }
hankzhang 7:155d5b6a416f 362 }
hankzhang 7:155d5b6a416f 363
hankzhang 7:155d5b6a416f 364
hankzhang 4:864bb8bde75c 365
hankzhang 4:864bb8bde75c 366 void led1_thread() {
hankzhang 4:864bb8bde75c 367 int length;
hankzhang 4:864bb8bde75c 368 char len[20];
hankzhang 4:864bb8bde75c 369 char l;
hankzhang 4:864bb8bde75c 370 int position = 0;
hankzhang 4:864bb8bde75c 371 int error = 0;
hankzhang 4:864bb8bde75c 372
hankzhang 4:864bb8bde75c 373 while (true)
hankzhang 4:864bb8bde75c 374 {
bbw 8:611fef4d4b5d 375 wifi_uart.write("get_down\r\n", 10);
hankzhang 4:864bb8bde75c 376 if(wifi_uart.readable())
hankzhang 4:864bb8bde75c 377 {
hankzhang 4:864bb8bde75c 378 length = wifi_uart.read(wifi_rxBuf, sizeof(wifi_rxBuf));
hankzhang 4:864bb8bde75c 379 if(!(strncmp(wifi_rxBuf,"down none",9)))
hankzhang 4:864bb8bde75c 380 {
hankzhang 4:864bb8bde75c 381 //if return "down none"
bbw 8:611fef4d4b5d 382 debug_uart.write("--- none\r\n",10);
hankzhang 4:864bb8bde75c 383 }
hankzhang 4:864bb8bde75c 384 else if(!(strncmp(wifi_rxBuf,"down set_properties ",20)))
hankzhang 4:864bb8bde75c 385 {
hankzhang 4:864bb8bde75c 386 //if return "down set_properties"
bbw 8:611fef4d4b5d 387 debug_uart.write("--- set:\r\n", 10);
hankzhang 4:864bb8bde75c 388 debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 389
hankzhang 4:864bb8bde75c 390 //set properties
hankzhang 4:864bb8bde75c 391 if(wifi_rxBuf[22] == '7')
hankzhang 4:864bb8bde75c 392 {
bbw 8:611fef4d4b5d 393 //set target-position
bbw 8:611fef4d4b5d 394 position = atoi(&wifi_rxBuf[24]);
bbw 8:611fef4d4b5d 395 sprintf(len, "position:%d\r\n", position);
bbw 8:611fef4d4b5d 396 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 397 /*add by bob*/
bbw 8:611fef4d4b5d 398 if(position<=10){//0
bbw 8:611fef4d4b5d 399 tar_cnt = 0;
bbw 8:611fef4d4b5d 400 }else if(position<=30){//25%
hankzhang 11:9b630cb10423 401 tar_cnt = cal_cnt/4;
bbw 8:611fef4d4b5d 402 }else if(position<=60){//50%
hankzhang 11:9b630cb10423 403 tar_cnt = cal_cnt/2;
bbw 8:611fef4d4b5d 404 }else if(position<=85){//75%
hankzhang 11:9b630cb10423 405 tar_cnt = cal_cnt*3/4;
bbw 8:611fef4d4b5d 406 }else{//100%
hankzhang 11:9b630cb10423 407 tar_cnt = cal_cnt;
bbw 8:611fef4d4b5d 408 }
bbw 8:611fef4d4b5d 409 if(tar_cnt>cur_cnt){
bbw 8:611fef4d4b5d 410 open_flag = 1;
bbw 8:611fef4d4b5d 411 debug_uart.write("open flag = 1\r\n", 15);
bbw 8:611fef4d4b5d 412 }
bbw 8:611fef4d4b5d 413 if(tar_cnt<cur_cnt){
bbw 8:611fef4d4b5d 414 close_flag = 1;
bbw 8:611fef4d4b5d 415 debug_uart.write("close flag = 1\r\n", 16);
bbw 8:611fef4d4b5d 416 }
bbw 8:611fef4d4b5d 417 }
hankzhang 4:864bb8bde75c 418 //report result to cloud
bbw 8:611fef4d4b5d 419 //wifi_uart.write("result 2 7 0\r\n", 14);
bbw 8:611fef4d4b5d 420 #if 0
hankzhang 4:864bb8bde75c 421 if(wifi_uart.readable())
hankzhang 4:864bb8bde75c 422 {
bbw 8:611fef4d4b5d 423 //length = wifi_uart.read(wifi_rxBuf, sizeof(wifi_rxBuf));
bbw 8:611fef4d4b5d 424 //debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 425 }
bbw 8:611fef4d4b5d 426 #endif
hankzhang 4:864bb8bde75c 427 }
hankzhang 4:864bb8bde75c 428 else if(!(strncmp(wifi_rxBuf,"down get_properties ",20)))
hankzhang 4:864bb8bde75c 429 {
hankzhang 4:864bb8bde75c 430 //if return "down get_properties"
bbw 8:611fef4d4b5d 431 debug_uart.write("--- get:\r\n", 10);
hankzhang 4:864bb8bde75c 432 debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 433
hankzhang 4:864bb8bde75c 434 //report result to cloud
hankzhang 4:864bb8bde75c 435 }
hankzhang 4:864bb8bde75c 436 else if(!(strncmp(wifi_rxBuf,"down MIIO_net_change ",21)))
hankzhang 4:864bb8bde75c 437 {
hankzhang 4:864bb8bde75c 438 //if return "down MIIO_net_change"
hankzhang 4:864bb8bde75c 439 debug_uart.write(wifi_rxBuf, length);
bbw 8:611fef4d4b5d 440 debug_uart.write("--- net:\r\n",10);
hankzhang 4:864bb8bde75c 441 if((!strncmp(&wifi_rxBuf[21], "offline", 7)))
hankzhang 4:864bb8bde75c 442 {
hankzhang 4:864bb8bde75c 443 //连接中
bbw 8:611fef4d4b5d 444 debug_uart.write("offline\r\n", 9);
hankzhang 4:864bb8bde75c 445 }
hankzhang 4:864bb8bde75c 446 else if((!strncmp(&wifi_rxBuf[21], "local", 5)))
hankzhang 4:864bb8bde75c 447 {
hankzhang 4:864bb8bde75c 448 //连上路由器但未连上服务器
bbw 8:611fef4d4b5d 449 debug_uart.write("local\r\n", 7);
hankzhang 4:864bb8bde75c 450 }
hankzhang 4:864bb8bde75c 451 else if((!strncmp(&wifi_rxBuf[21], "cloud", 5)))
hankzhang 4:864bb8bde75c 452 {
hankzhang 4:864bb8bde75c 453 //连上小米云服务器
bbw 8:611fef4d4b5d 454 debug_uart.write("cloud\r\n", 7);
hankzhang 4:864bb8bde75c 455 g_isCloud = 1;
hankzhang 4:864bb8bde75c 456 }
hankzhang 4:864bb8bde75c 457 }
hankzhang 4:864bb8bde75c 458 else
hankzhang 4:864bb8bde75c 459 {
hankzhang 4:864bb8bde75c 460 debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 461 }
hankzhang 4:864bb8bde75c 462
hankzhang 4:864bb8bde75c 463 }
bbw 8:611fef4d4b5d 464 //thread_sleep_for(400);
bbw 8:611fef4d4b5d 465 wait_ms(400);
techneo 0:217105958c2d 466 }
techneo 0:217105958c2d 467 }
techneo 0:217105958c2d 468
bbw 1:0fe432e5dfc4 469
hankzhang 2:f48b0967b6cc 470 void led0_thread() {
hankzhang 3:30d61fa10b98 471 int length;
hankzhang 3:30d61fa10b98 472 while (1) {
hankzhang 3:30d61fa10b98 473 if(debug_uart.readable())
hankzhang 3:30d61fa10b98 474 {
hankzhang 3:30d61fa10b98 475 length = debug_uart.read(rxBuf, sizeof(rxBuf));
hankzhang 3:30d61fa10b98 476 debug_uart.write(rxBuf, length);
hankzhang 3:30d61fa10b98 477 wifi_uart.write(rxBuf, length);
hankzhang 3:30d61fa10b98 478 debug_uart.write("111\r",4);
hankzhang 3:30d61fa10b98 479 }
hankzhang 3:30d61fa10b98 480 if(wifi_uart.readable())
hankzhang 3:30d61fa10b98 481 {
hankzhang 3:30d61fa10b98 482 length = wifi_uart.read(rxBuf, sizeof(rxBuf));
hankzhang 3:30d61fa10b98 483 debug_uart.write(rxBuf, length);
hankzhang 3:30d61fa10b98 484 debug_uart.write("222\r",4);
hankzhang 3:30d61fa10b98 485
hankzhang 3:30d61fa10b98 486 }
hankzhang 3:30d61fa10b98 487 wait(0.5);
bbw 1:0fe432e5dfc4 488 }
bbw 1:0fe432e5dfc4 489 }
hankzhang 3:30d61fa10b98 490
hankzhang 3:30d61fa10b98 491
bbw 6:a9cc2c424cf9 492 void motor1_move(uint8_t dir){/*main motor*/
hankzhang 9:98b398a0e357 493 #if 1
bbw 6:a9cc2c424cf9 494 if(dir==1){/*forward*/
bbw 6:a9cc2c424cf9 495 MOTOA1 = 0;
bbw 6:a9cc2c424cf9 496 MOTOB1 = 1;
bbw 6:a9cc2c424cf9 497 }else if(dir==2){/*backward*/
bbw 6:a9cc2c424cf9 498 MOTOA1 = 1;
bbw 6:a9cc2c424cf9 499 MOTOB1 = 0;
bbw 6:a9cc2c424cf9 500 }else{ /*stop*/
bbw 6:a9cc2c424cf9 501 MOTOA1 = 0;
bbw 6:a9cc2c424cf9 502 MOTOB1 = 0;
bbw 6:a9cc2c424cf9 503 }
hankzhang 9:98b398a0e357 504 #endif
bbw 6:a9cc2c424cf9 505 }
bbw 6:a9cc2c424cf9 506
bbw 6:a9cc2c424cf9 507 void motor2_move(uint8_t dir){/*assistant motor*/
hankzhang 9:98b398a0e357 508 #if 1
bbw 6:a9cc2c424cf9 509 if(dir==1){/*up*/
bbw 6:a9cc2c424cf9 510 MOTOA2 = 0;
bbw 6:a9cc2c424cf9 511 MOTOB2 = 1;
bbw 6:a9cc2c424cf9 512 }else if(dir==2){/*down*/
bbw 6:a9cc2c424cf9 513 MOTOA2 = 1;
bbw 6:a9cc2c424cf9 514 MOTOB2 = 0;
bbw 6:a9cc2c424cf9 515 }else{ /*stop*/
bbw 6:a9cc2c424cf9 516 MOTOA2 = 0;
bbw 6:a9cc2c424cf9 517 MOTOB2 = 0;
bbw 6:a9cc2c424cf9 518 }
hankzhang 9:98b398a0e357 519 #endif
bbw 6:a9cc2c424cf9 520 }
bbw 6:a9cc2c424cf9 521
hankzhang 7:155d5b6a416f 522 void system_init()
hankzhang 7:155d5b6a416f 523 {
hankzhang 7:155d5b6a416f 524
bbw 6:a9cc2c424cf9 525 MOTOA1 = 0;
bbw 6:a9cc2c424cf9 526 MOTOB1 = 0;
bbw 6:a9cc2c424cf9 527 MOTOA2 = 0;
bbw 6:a9cc2c424cf9 528 MOTOB2 = 0;
hankzhang 11:9b630cb10423 529 init_flag = 0;
bbw 8:611fef4d4b5d 530 cur_cnt = 0;
bbw 8:611fef4d4b5d 531 cal_cnt = 68;
bbw 6:a9cc2c424cf9 532 motor1_ready_flag = 0;
bbw 6:a9cc2c424cf9 533 motor2_ready_flag = 0;
bbw 6:a9cc2c424cf9 534 sense_value = 0;
bbw 8:611fef4d4b5d 535 sensor_flag = 1;
bbw 6:a9cc2c424cf9 536 ready_flag = 0;
hankzhang 7:155d5b6a416f 537 debug_uart.write("*******************************\r\n",33);
hankzhang 7:155d5b6a416f 538 debug_uart.write("**********LAIWU TECH***********\r\n",33);
hankzhang 7:155d5b6a416f 539 debug_uart.write("*******************************\r\n",33);
hankzhang 7:155d5b6a416f 540 debug_uart.write("system init done, wait 3 seconds to start\r\n",43);
bbw 6:a9cc2c424cf9 541 wait(3);
hankzhang 7:155d5b6a416f 542 }
hankzhang 7:155d5b6a416f 543
hankzhang 7:155d5b6a416f 544 int main() {
hankzhang 7:155d5b6a416f 545 int length;
hankzhang 7:155d5b6a416f 546 led1 = 1;
bbw 8:611fef4d4b5d 547 char len[50];
hankzhang 7:155d5b6a416f 548
hankzhang 7:155d5b6a416f 549 debug_uart.write("hello world",11);
hankzhang 11:9b630cb10423 550 WIFI_PWREN = 1;
hankzhang 7:155d5b6a416f 551 wait(3);
hankzhang 7:155d5b6a416f 552 system_init();
hankzhang 7:155d5b6a416f 553 InterruptIn Hall1(PA_14);
hankzhang 7:155d5b6a416f 554 //InterruptIn Hall2(PB_3);
hankzhang 7:155d5b6a416f 555 Hall1.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event
bbw 8:611fef4d4b5d 556 DebugKey.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
hankzhang 7:155d5b6a416f 557 //Hall2.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event
hankzhang 7:155d5b6a416f 558 debug_uart.write("Hall sensor init done\r\n", 23);
hankzhang 7:155d5b6a416f 559
hankzhang 7:155d5b6a416f 560
hankzhang 7:155d5b6a416f 561 //Thread thread0(osPriorityNormal, 512, nullptr, nullptr);
hankzhang 9:98b398a0e357 562 Thread thread1(osPriorityNormal, 1024, nullptr, nullptr);
hankzhang 7:155d5b6a416f 563 //Thread thread2(osPriorityNormal, 512, nullptr, nullptr);
hankzhang 7:155d5b6a416f 564
hankzhang 7:155d5b6a416f 565 Thread thread2(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
hankzhang 7:155d5b6a416f 566 //debug_uart.printf("thread1~~~~~~~~~~~~~~~~\r\n");
hankzhang 9:98b398a0e357 567 Thread thread3(osPriorityNormal, 1024, nullptr, nullptr); /*check the real-time current*/
hankzhang 7:155d5b6a416f 568 //debug_uart.printf("thread2~~~~~~~~~~~~~~~~\r\n");
hankzhang 9:98b398a0e357 569 Thread thread4(osPriorityNormal, 1024, nullptr, nullptr); /*check the real-time current*/
hankzhang 7:155d5b6a416f 570 //debug_uart.printf("thread3~~~~~~~~~~~~~~~~\r\n");
bbw 8:611fef4d4b5d 571
hankzhang 7:155d5b6a416f 572 //thread0.start(led0_thread);
hankzhang 7:155d5b6a416f 573 thread1.start(led1_thread);
hankzhang 7:155d5b6a416f 574 thread2.start(Power_thread);
hankzhang 7:155d5b6a416f 575 thread3.start(Motor1_thread);
hankzhang 7:155d5b6a416f 576 thread4.start(Motor2_thread);
hankzhang 7:155d5b6a416f 577
bbw 8:611fef4d4b5d 578 debug_uart.write("four threads created\r\n",22);
bbw 8:611fef4d4b5d 579
hankzhang 7:155d5b6a416f 580 while(1)
hankzhang 7:155d5b6a416f 581 {
hankzhang 9:98b398a0e357 582 if (button1_pressed) { // Set when button is pressed
hankzhang 9:98b398a0e357 583 button1_pressed = false;
hankzhang 9:98b398a0e357 584 debug_uart.write("restore wifi module\r\n",21);
hankzhang 9:98b398a0e357 585 wifi_uart.write("restore\r\n", 9);
hankzhang 7:155d5b6a416f 586 }
hankzhang 10:1dbe0c851c2e 587 #if 1
hankzhang 11:9b630cb10423 588 if(init_flag){
hankzhang 11:9b630cb10423 589 if(!open_flag&&!close_flag){
hankzhang 12:1a79d1635720 590 if(sensor_cnt>(pre_sensor_cnt+4)){
hankzhang 10:1dbe0c851c2e 591 if(cur_cnt<5)
hankzhang 10:1dbe0c851c2e 592 {
hankzhang 10:1dbe0c851c2e 593 cur_cnt = cur_cnt + (sensor_cnt - pre_sensor_cnt);
hankzhang 11:9b630cb10423 594 tar_cnt = cal_cnt;
hankzhang 10:1dbe0c851c2e 595 open_flag = 1;
hankzhang 10:1dbe0c851c2e 596 }
hankzhang 10:1dbe0c851c2e 597 else
hankzhang 10:1dbe0c851c2e 598 {
hankzhang 10:1dbe0c851c2e 599 cur_cnt = cur_cnt - (sensor_cnt - pre_sensor_cnt);
hankzhang 10:1dbe0c851c2e 600 tar_cnt = 0;
bbw 8:611fef4d4b5d 601 close_flag = 1;
bbw 8:611fef4d4b5d 602 }
bbw 8:611fef4d4b5d 603 }
bbw 8:611fef4d4b5d 604 sprintf(len, "main_thread: sensor_cnt = %d. \r\n", sensor_cnt);
bbw 8:611fef4d4b5d 605 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 606 sprintf(len, "main_thread: pre_sensor_cnt = %d. \r\n", pre_sensor_cnt);
bbw 8:611fef4d4b5d 607 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 608 pre_sensor_cnt = sensor_cnt;
hankzhang 11:9b630cb10423 609 }
bbw 8:611fef4d4b5d 610 }
hankzhang 11:9b630cb10423 611
hankzhang 9:98b398a0e357 612 #endif
hankzhang 10:1dbe0c851c2e 613 wait(1.5);
bbw 8:611fef4d4b5d 614
hankzhang 9:98b398a0e357 615 sprintf(len, "main_thread: current cur_cnt is %d\r\n", cur_cnt);
hankzhang 9:98b398a0e357 616 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 617
hankzhang 7:155d5b6a416f 618 }
hankzhang 2:f48b0967b6cc 619 }