hank zhang / Mbed OS Hank_Curtain_Sample_0427_backup

for bob

Dependencies:   mbed-STM32F103C8T6_new

main.cpp@9:98b398a0e357, 2020-05-19 (annotated)

Committer:
hankzhang
Date:
Tue May 19 10:15:36 2020 +0000
Revision:
9:98b398a0e357
Parent:
8:611fef4d4b5d
Child:
10:1dbe0c851c2e
sensor_test_successful

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);
bbw 8:611fef4d4b5d 51 volatile bool button1_pressed = false; // Used in the main loop
bbw 8:611fef4d4b5d 52 volatile bool button1_enabled = true; // Used for debouncing
bbw 8:611fef4d4b5d 53 Timeout button1_timeout; // Used for debouncing
bbw 8:611fef4d4b5d 54
bbw 8:611fef4d4b5d 55 // Enables button when bouncing is over
bbw 8:611fef4d4b5d 56 void button1_enabled_cb(void)
bbw 8:611fef4d4b5d 57 {
bbw 8:611fef4d4b5d 58 button1_enabled = true;
bbw 8:611fef4d4b5d 59 }
bbw 8:611fef4d4b5d 60
bbw 8:611fef4d4b5d 61 // ISR handling button pressed event
bbw 8:611fef4d4b5d 62 void button1_onpressed_cb(void)
bbw 8:611fef4d4b5d 63 {
bbw 8:611fef4d4b5d 64 if (button1_enabled) { // Disabled while the button is bouncing
bbw 8:611fef4d4b5d 65 button1_enabled = false;
bbw 8:611fef4d4b5d 66 button1_pressed = true; // To be read by the main loop
bbw 8:611fef4d4b5d 67 button1_timeout.attach(callback(button1_enabled_cb), 0.3); // Debounce time 300 ms
bbw 8:611fef4d4b5d 68 }
bbw 8:611fef4d4b5d 69 }
bbw 8:611fef4d4b5d 70
bbw 8:611fef4d4b5d 71
hankzhang 4:864bb8bde75c 72 //Serial wifi_uart(PA_2, PA_3, 115200);
hankzhang 4:864bb8bde75c 73 //Serial debug_uart(PB_10, PB_11, 115200);
hankzhang 4:864bb8bde75c 74
hankzhang 4:864bb8bde75c 75 char rxBuf[32];
hankzhang 4:864bb8bde75c 76 char wifi_rxBuf[32]; //receive msg from xiaomi cloud
hankzhang 4:864bb8bde75c 77 short g_isCloud = 0; //flag for connected xiaomi cloud
hankzhang 4:864bb8bde75c 78
hankzhang 4:864bb8bde75c 79 //char set_property[] = {"down set_properties "}
hankzhang 4:864bb8bde75c 80 //char get_property[] = {"down get_properties "}
hankzhang 3:30d61fa10b98 81 int i = 0;
hankzhang 7:155d5b6a416f 82 //---------------------------------------------------
hankzhang 3:30d61fa10b98 83
hankzhang 3:30d61fa10b98 84 ATCmdParser *_parser;
hankzhang 7:155d5b6a416f 85 void sensor_capture_cb(void){
hankzhang 9:98b398a0e357 86 char len[15];
bbw 8:611fef4d4b5d 87 sensor_cnt++;
bbw 8:611fef4d4b5d 88 if(open_flag){
hankzhang 9:98b398a0e357 89 if(cur_cnt<255){
hankzhang 9:98b398a0e357 90 cur_cnt++;
hankzhang 9:98b398a0e357 91
hankzhang 9:98b398a0e357 92 }
bbw 8:611fef4d4b5d 93 }
bbw 8:611fef4d4b5d 94 if(close_flag){
bbw 8:611fef4d4b5d 95 if(cur_cnt>0){
bbw 8:611fef4d4b5d 96 cur_cnt--;
bbw 8:611fef4d4b5d 97 }
bbw 8:611fef4d4b5d 98 }
hankzhang 7:155d5b6a416f 99 }
hankzhang 7:155d5b6a416f 100
hankzhang 7:155d5b6a416f 101 void Power_thread(){/*detect current*/
bbw 8:611fef4d4b5d 102 char len[50];
bbw 8:611fef4d4b5d 103 char i = 0;
hankzhang 7:155d5b6a416f 104 while(true){
bbw 8:611fef4d4b5d 105 Thread::wait(200); /*unit millisec*/
hankzhang 7:155d5b6a416f 106 sense_value = SensorCurrent.read();
hankzhang 7:155d5b6a416f 107 if((sense_value>0.5)&&sensor_flag){
bbw 8:611fef4d4b5d 108 sprintf(len, "Power_thread: sense_value = %0.4f > 0.5 \r\n", sense_value);
bbw 8:611fef4d4b5d 109 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 110 i++;
bbw 8:611fef4d4b5d 111 if(i>1){
bbw 8:611fef4d4b5d 112 ov_flag = 1;
bbw 8:611fef4d4b5d 113 }
bbw 8:611fef4d4b5d 114 }else{
bbw 8:611fef4d4b5d 115 i = 0;
bbw 8:611fef4d4b5d 116 }
bbw 8:611fef4d4b5d 117
hankzhang 7:155d5b6a416f 118 }
hankzhang 7:155d5b6a416f 119 }
hankzhang 7:155d5b6a416f 120
bbw 8:611fef4d4b5d 121 void Motor1_thread(){
bbw 8:611fef4d4b5d 122 char len[50];
bbw 8:611fef4d4b5d 123 while(true){
bbw 8:611fef4d4b5d 124 Thread::wait(300); /*unit millisec*/
bbw 8:611fef4d4b5d 125 if(!init_flag){
bbw 8:611fef4d4b5d 126 while(1){
bbw 8:611fef4d4b5d 127 if(motor2_ready_flag){break;}else{
bbw 8:611fef4d4b5d 128 wait(1);
bbw 8:611fef4d4b5d 129 debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
bbw 8:611fef4d4b5d 130 }
bbw 8:611fef4d4b5d 131 }
bbw 8:611fef4d4b5d 132 motor2_ready_flag = 0;
bbw 8:611fef4d4b5d 133 sensor_cnt = 0;
bbw 8:611fef4d4b5d 134 motor1_move(MOVING_FORWARD);
bbw 8:611fef4d4b5d 135 wait(1);
bbw 8:611fef4d4b5d 136 sensor_flag = 1; /*enable current monitoring*/
bbw 8:611fef4d4b5d 137 while(!ov_flag){
bbw 8:611fef4d4b5d 138 debug_uart.write("Motor1_thread: waiting for ov_flag = 1 \r\n",41);
bbw 8:611fef4d4b5d 139 wait(1);
bbw 8:611fef4d4b5d 140 }
bbw 8:611fef4d4b5d 141 motor1_move(STOP);
bbw 8:611fef4d4b5d 142 ov_flag = 0;
bbw 8:611fef4d4b5d 143 motor2_ready_flag = 0;
bbw 8:611fef4d4b5d 144 cal_cnt = sensor_cnt;
bbw 8:611fef4d4b5d 145 sprintf(len, "Motor1_thread: primary calibrated cnt is %d \r\n", cal_cnt);
bbw 8:611fef4d4b5d 146 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 147 wait(1);
bbw 8:611fef4d4b5d 148 motor1_ready_flag = 1;
bbw 8:611fef4d4b5d 149 while(1){
bbw 8:611fef4d4b5d 150 if(motor2_ready_flag){break;}else{
bbw 8:611fef4d4b5d 151 wait(1);
bbw 8:611fef4d4b5d 152 debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
hankzhang 7:155d5b6a416f 153 }
bbw 8:611fef4d4b5d 154 }
bbw 8:611fef4d4b5d 155 motor2_ready_flag = 0;
bbw 8:611fef4d4b5d 156 sensor_cnt = 0;
bbw 8:611fef4d4b5d 157 motor1_move(MOVING_BACKWARD);
bbw 8:611fef4d4b5d 158 while(!ov_flag){
bbw 8:611fef4d4b5d 159 debug_uart.write("Motor1_thread: waiting for ov_flag = 1 \r\n",41);
bbw 8:611fef4d4b5d 160 wait(1);
bbw 8:611fef4d4b5d 161 }
bbw 8:611fef4d4b5d 162 motor1_move(STOP);
bbw 8:611fef4d4b5d 163 cal_cnt2 = sensor_cnt;
bbw 8:611fef4d4b5d 164 sensor_cnt = 0;
bbw 8:611fef4d4b5d 165 cal_cnt = (cal_cnt2+cal_cnt)/2;
bbw 8:611fef4d4b5d 166 sprintf(len, "Motor1_thread: final calibrated cnt is %d \r\n", cal_cnt);
bbw 8:611fef4d4b5d 167 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 168 wait(1);
bbw 8:611fef4d4b5d 169 motor1_ready_flag = 1;
bbw 8:611fef4d4b5d 170 while(!init_flag){debug_uart.write("Motor1_thread: -------------------------------\r\n",48);wait(1);}
bbw 8:611fef4d4b5d 171 }else{
bbw 8:611fef4d4b5d 172 debug_uart.write("Motor1_thread: calibration done, wait for motor2 action.\r\n", 58);
bbw 8:611fef4d4b5d 173 while(1){
bbw 8:611fef4d4b5d 174 if(motor2_ready_flag){break;}else{
bbw 8:611fef4d4b5d 175 wait(1);
bbw 8:611fef4d4b5d 176 debug_uart.write("Motor1_thread: -------------------------------\r\n",48);
bbw 8:611fef4d4b5d 177 }
bbw 8:611fef4d4b5d 178 }
bbw 8:611fef4d4b5d 179 motor2_ready_flag = 0;
bbw 8:611fef4d4b5d 180 if(open_flag){
bbw 8:611fef4d4b5d 181 motor1_move(MOVING_FORWARD);
bbw 8:611fef4d4b5d 182 while(1){
hankzhang 9:98b398a0e357 183 #if 0
bbw 8:611fef4d4b5d 184 sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
bbw 8:611fef4d4b5d 185 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 186 sprintf(len, "Motor1_thread: tar_cnt is %d \r\n", tar_cnt);
bbw 8:611fef4d4b5d 187 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 188 debug_uart.write("Motor1_thread: **************************** \r\n", 46);
hankzhang 9:98b398a0e357 189 wait_ms(500);
hankzhang 9:98b398a0e357 190 #endif
hankzhang 9:98b398a0e357 191 wait_ms(100);
bbw 8:611fef4d4b5d 192 if(cur_cnt>=tar_cnt){
hankzhang 9:98b398a0e357 193 debug_uart.write("Motor1_thread: cur_cnt>=tar_cnt\r\n", 33);
bbw 8:611fef4d4b5d 194 break;
bbw 8:611fef4d4b5d 195 }
bbw 8:611fef4d4b5d 196 if(ov_flag){
bbw 8:611fef4d4b5d 197 break;
bbw 8:611fef4d4b5d 198 }
bbw 8:611fef4d4b5d 199 }
bbw 8:611fef4d4b5d 200 }
bbw 8:611fef4d4b5d 201 if(close_flag){
bbw 8:611fef4d4b5d 202 motor1_move(MOVING_BACKWARD);
bbw 8:611fef4d4b5d 203 while(1){
hankzhang 9:98b398a0e357 204 #if 0
bbw 8:611fef4d4b5d 205 sprintf(len, "Motor1_thread: cur_cnt is %d \r\n", cur_cnt);
bbw 8:611fef4d4b5d 206 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 207 sprintf(len, "Motor1_thread: tar_cnt is %d \r\n", tar_cnt);
bbw 8:611fef4d4b5d 208 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 209 debug_uart.write("Motor1_thread: **************************** \r\n", 46);
bbw 8:611fef4d4b5d 210 wait(1);
hankzhang 9:98b398a0e357 211 #endif
hankzhang 9:98b398a0e357 212 wait_ms(100);
bbw 8:611fef4d4b5d 213 if(cur_cnt<=tar_cnt){
hankzhang 9:98b398a0e357 214 debug_uart.write("Motor1_thread: cur_cnt<=tar_cnt\r\n", 33);
bbw 8:611fef4d4b5d 215 break;
bbw 8:611fef4d4b5d 216 }
bbw 8:611fef4d4b5d 217 if(ov_flag){
bbw 8:611fef4d4b5d 218 break;
bbw 8:611fef4d4b5d 219 }
bbw 8:611fef4d4b5d 220 }
bbw 8:611fef4d4b5d 221 }
bbw 8:611fef4d4b5d 222 motor1_move(STOP);
bbw 8:611fef4d4b5d 223 if(!ov_flag){
bbw 8:611fef4d4b5d 224 cur_cnt = tar_cnt;
hankzhang 9:98b398a0e357 225 debug_uart.write("Motor1_thread: *******cur_cnt = tar_cnt******** \r\n", 49);
bbw 8:611fef4d4b5d 226 }else{
hankzhang 9:98b398a0e357 227 if(open_flag){cur_cnt = 60;debug_uart.write("Motor1_thread: !!!!1\r\n", 22); }
hankzhang 9:98b398a0e357 228 if(close_flag){cur_cnt = 0;debug_uart.write("Motor1_thread: !!!!2\r\n", 22); }
bbw 8:611fef4d4b5d 229 }
bbw 8:611fef4d4b5d 230 ov_flag = 0;
bbw 8:611fef4d4b5d 231 motor1_ready_flag = 1;
bbw 8:611fef4d4b5d 232 }
bbw 8:611fef4d4b5d 233 }
hankzhang 7:155d5b6a416f 234 }
hankzhang 7:155d5b6a416f 235
bbw 8:611fef4d4b5d 236 void Motor2_thread(){
bbw 8:611fef4d4b5d 237 uint8_t sta1,sta2;
bbw 8:611fef4d4b5d 238 uint8_t i;
bbw 8:611fef4d4b5d 239 DigitalIn Stopper1(PA_13);
bbw 8:611fef4d4b5d 240 DigitalIn Stopper2(PA_15);
bbw 8:611fef4d4b5d 241 char len[50];
bbw 8:611fef4d4b5d 242 while(true){
bbw 8:611fef4d4b5d 243 Thread::wait(300); /*unit millisec*/
bbw 8:611fef4d4b5d 244 if(!init_flag){
bbw 8:611fef4d4b5d 245 wait(1);
bbw 8:611fef4d4b5d 246 debug_uart.write("Motor2_thread: motor2 move up\r\n", 31);
bbw 8:611fef4d4b5d 247 motor2_move(MOVING_UP);
bbw 8:611fef4d4b5d 248 while(Stopper1){;}
bbw 8:611fef4d4b5d 249 motor2_move(STOP);
bbw 8:611fef4d4b5d 250 debug_uart.write("Motor2_thread: Up stopper triggered \r\n",38);
bbw 8:611fef4d4b5d 251 motor2_ready_flag = 1;
bbw 8:611fef4d4b5d 252 wait(1);
bbw 8:611fef4d4b5d 253 while(1){
bbw 8:611fef4d4b5d 254 if(motor1_ready_flag){break;}else{
bbw 8:611fef4d4b5d 255 wait(1);debug_uart.write("Motor2_thread: --------------------------------- \r\n",51);
bbw 8:611fef4d4b5d 256 }
bbw 8:611fef4d4b5d 257 }
bbw 8:611fef4d4b5d 258 motor1_ready_flag = 0;
bbw 8:611fef4d4b5d 259 motor2_move(MOVING_DOWN);
bbw 8:611fef4d4b5d 260 while(Stopper2){;}
bbw 8:611fef4d4b5d 261 motor2_move(STOP);
bbw 8:611fef4d4b5d 262 debug_uart.write("Motor2_thread: Down stopper triggered \r\n", 40);
bbw 8:611fef4d4b5d 263 motor2_ready_flag = 1;
bbw 8:611fef4d4b5d 264 while(1){
bbw 8:611fef4d4b5d 265 if(motor1_ready_flag){break;}else{
bbw 8:611fef4d4b5d 266 wait(1);debug_uart.write("Motor2_thread: --------------------------------- \r\n",51);
hankzhang 7:155d5b6a416f 267 }
bbw 8:611fef4d4b5d 268 }
bbw 8:611fef4d4b5d 269 motor1_ready_flag = 0;
bbw 8:611fef4d4b5d 270 debug_uart.write("Motor2_thread: motor2 move to center\r\n",38);
bbw 8:611fef4d4b5d 271 ov_flag = 0;
bbw 8:611fef4d4b5d 272 ready_flag = 1;
bbw 8:611fef4d4b5d 273 motor2_move(MOVING_UP);
bbw 8:611fef4d4b5d 274 wait(1.6);
bbw 8:611fef4d4b5d 275 motor2_move(STOP);
bbw 8:611fef4d4b5d 276 ready_flag = 0;
bbw 8:611fef4d4b5d 277 debug_uart.write("Motor2_thread: motor2 thread done\r\n",35);
bbw 8:611fef4d4b5d 278 sprintf(len, "Main_thread: mean current is =%2.4f \r\n", m_val);
bbw 8:611fef4d4b5d 279 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 280 cur_cnt = 0;
bbw 8:611fef4d4b5d 281 init_flag = 1;
bbw 8:611fef4d4b5d 282 }else{
bbw 8:611fef4d4b5d 283 debug_uart.write("Motor2_thread: calibration done.wait for open/close flag\r\n", 58);
bbw 8:611fef4d4b5d 284 while(1){
bbw 8:611fef4d4b5d 285 if(open_flag){break;}
bbw 8:611fef4d4b5d 286 if(close_flag){break;}
bbw 8:611fef4d4b5d 287 wait(1);
bbw 8:611fef4d4b5d 288 debug_uart.write("Motor2_thread: ------------command?------------- \r\n", 51);
bbw 8:611fef4d4b5d 289 }
hankzhang 9:98b398a0e357 290 g_tmp_cur_cnt = cur_cnt;
bbw 8:611fef4d4b5d 291 if(open_flag){
bbw 8:611fef4d4b5d 292 debug_uart.write("Motor2_thread: --------------open--------------- \r\n", 51);
hankzhang 9:98b398a0e357 293 i = 0;
bbw 8:611fef4d4b5d 294 motor2_move(MOVING_UP);
hankzhang 9:98b398a0e357 295 while(1){
hankzhang 9:98b398a0e357 296 if(!Stopper1){i++;};
hankzhang 9:98b398a0e357 297 if(i>10){break;}
hankzhang 9:98b398a0e357 298 }
bbw 8:611fef4d4b5d 299 motor2_move(STOP);
hankzhang 9:98b398a0e357 300 debug_uart.write("Motor2_thread: ------------open done------------- \r\n", 51);
hankzhang 9:98b398a0e357 301 wait(1);
hankzhang 9:98b398a0e357 302 ov_flag = 0;
bbw 8:611fef4d4b5d 303 motor2_ready_flag = 1;
bbw 8:611fef4d4b5d 304 }
bbw 8:611fef4d4b5d 305 if(close_flag){
bbw 8:611fef4d4b5d 306 debug_uart.write("Motor2_thread: -------------close-------------- \r\n", 50);
hankzhang 9:98b398a0e357 307 i = 0;
bbw 8:611fef4d4b5d 308 motor2_move(MOVING_DOWN);
bbw 8:611fef4d4b5d 309 while(1){
bbw 8:611fef4d4b5d 310 if(!Stopper2){i++;};
hankzhang 9:98b398a0e357 311 if(i>10){break;}
hankzhang 9:98b398a0e357 312 }
bbw 8:611fef4d4b5d 313 motor2_move(STOP);
hankzhang 9:98b398a0e357 314 wait(1);
hankzhang 9:98b398a0e357 315 ov_flag = 0;
bbw 8:611fef4d4b5d 316 motor2_ready_flag = 1;
hankzhang 9:98b398a0e357 317 }
hankzhang 9:98b398a0e357 318 cur_cnt = g_tmp_cur_cnt;
hankzhang 9:98b398a0e357 319
bbw 8:611fef4d4b5d 320 while(1){
bbw 8:611fef4d4b5d 321 if(motor1_ready_flag){break;}else{
bbw 8:611fef4d4b5d 322 wait(1);
bbw 8:611fef4d4b5d 323 debug_uart.write("Motor2_thread: --------------------------------- \r\n", 51);
bbw 8:611fef4d4b5d 324 }
bbw 8:611fef4d4b5d 325 }
bbw 8:611fef4d4b5d 326 motor1_ready_flag = 0;
bbw 8:611fef4d4b5d 327 debug_uart.write("Motor2_thread: motor2 move to center\r\n", 38);
bbw 8:611fef4d4b5d 328 wait(1);
bbw 8:611fef4d4b5d 329 ready_flag = 1;
hankzhang 9:98b398a0e357 330 g_tmp_cur_cnt = cur_cnt;
hankzhang 9:98b398a0e357 331 if(open_flag){
bbw 8:611fef4d4b5d 332 motor2_move(MOVING_DOWN);
bbw 8:611fef4d4b5d 333 }
bbw 8:611fef4d4b5d 334 if(close_flag){
bbw 8:611fef4d4b5d 335 motor2_move(MOVING_UP);
bbw 8:611fef4d4b5d 336 }
bbw 8:611fef4d4b5d 337 wait(1.6);
bbw 8:611fef4d4b5d 338 motor2_move(STOP);
hankzhang 9:98b398a0e357 339 cur_cnt = g_tmp_cur_cnt;
bbw 8:611fef4d4b5d 340 ready_flag = 0;
bbw 8:611fef4d4b5d 341 debug_uart.write("Motor2_thread: motor2 thread done\r\n", 35);
bbw 8:611fef4d4b5d 342 pre_sensor_cnt = sensor_cnt;
bbw 8:611fef4d4b5d 343 open_flag = 0;
bbw 8:611fef4d4b5d 344 close_flag = 0;
hankzhang 7:155d5b6a416f 345 }
bbw 8:611fef4d4b5d 346 }
hankzhang 7:155d5b6a416f 347 }
hankzhang 7:155d5b6a416f 348
hankzhang 7:155d5b6a416f 349
hankzhang 4:864bb8bde75c 350
hankzhang 4:864bb8bde75c 351 void led1_thread() {
hankzhang 4:864bb8bde75c 352 int length;
hankzhang 4:864bb8bde75c 353 char len[20];
hankzhang 4:864bb8bde75c 354 char l;
hankzhang 4:864bb8bde75c 355 int position = 0;
hankzhang 4:864bb8bde75c 356 int error = 0;
hankzhang 4:864bb8bde75c 357
hankzhang 4:864bb8bde75c 358 while (true)
hankzhang 4:864bb8bde75c 359 {
bbw 8:611fef4d4b5d 360 wifi_uart.write("get_down\r\n", 10);
hankzhang 4:864bb8bde75c 361 if(wifi_uart.readable())
hankzhang 4:864bb8bde75c 362 {
hankzhang 4:864bb8bde75c 363 length = wifi_uart.read(wifi_rxBuf, sizeof(wifi_rxBuf));
hankzhang 4:864bb8bde75c 364 if(!(strncmp(wifi_rxBuf,"down none",9)))
hankzhang 4:864bb8bde75c 365 {
hankzhang 4:864bb8bde75c 366 //if return "down none"
bbw 8:611fef4d4b5d 367 debug_uart.write("--- none\r\n",10);
hankzhang 4:864bb8bde75c 368 }
hankzhang 4:864bb8bde75c 369 else if(!(strncmp(wifi_rxBuf,"down set_properties ",20)))
hankzhang 4:864bb8bde75c 370 {
hankzhang 4:864bb8bde75c 371 //if return "down set_properties"
bbw 8:611fef4d4b5d 372 debug_uart.write("--- set:\r\n", 10);
hankzhang 4:864bb8bde75c 373 debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 374
hankzhang 4:864bb8bde75c 375 //set properties
hankzhang 4:864bb8bde75c 376 if(wifi_rxBuf[22] == '7')
hankzhang 4:864bb8bde75c 377 {
bbw 8:611fef4d4b5d 378 //set target-position
bbw 8:611fef4d4b5d 379 position = atoi(&wifi_rxBuf[24]);
bbw 8:611fef4d4b5d 380 sprintf(len, "position:%d\r\n", position);
bbw 8:611fef4d4b5d 381 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 382 /*add by bob*/
bbw 8:611fef4d4b5d 383 if(position<=10){//0
bbw 8:611fef4d4b5d 384 tar_cnt = 0;
bbw 8:611fef4d4b5d 385 }else if(position<=30){//25%
hankzhang 9:98b398a0e357 386 tar_cnt = 15;
bbw 8:611fef4d4b5d 387 }else if(position<=60){//50%
hankzhang 9:98b398a0e357 388 tar_cnt = 30;
bbw 8:611fef4d4b5d 389 }else if(position<=85){//75%
hankzhang 9:98b398a0e357 390 tar_cnt = 45;
bbw 8:611fef4d4b5d 391 }else{//100%
hankzhang 9:98b398a0e357 392 tar_cnt = 60;
bbw 8:611fef4d4b5d 393 }
bbw 8:611fef4d4b5d 394 if(tar_cnt>cur_cnt){
bbw 8:611fef4d4b5d 395 open_flag = 1;
bbw 8:611fef4d4b5d 396 debug_uart.write("open flag = 1\r\n", 15);
bbw 8:611fef4d4b5d 397 }
bbw 8:611fef4d4b5d 398 if(tar_cnt<cur_cnt){
bbw 8:611fef4d4b5d 399 close_flag = 1;
bbw 8:611fef4d4b5d 400 debug_uart.write("close flag = 1\r\n", 16);
bbw 8:611fef4d4b5d 401 }
bbw 8:611fef4d4b5d 402 }
hankzhang 4:864bb8bde75c 403 //report result to cloud
bbw 8:611fef4d4b5d 404 //wifi_uart.write("result 2 7 0\r\n", 14);
bbw 8:611fef4d4b5d 405 #if 0
hankzhang 4:864bb8bde75c 406 if(wifi_uart.readable())
hankzhang 4:864bb8bde75c 407 {
bbw 8:611fef4d4b5d 408 //length = wifi_uart.read(wifi_rxBuf, sizeof(wifi_rxBuf));
bbw 8:611fef4d4b5d 409 //debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 410 }
bbw 8:611fef4d4b5d 411 #endif
hankzhang 4:864bb8bde75c 412 }
hankzhang 4:864bb8bde75c 413 else if(!(strncmp(wifi_rxBuf,"down get_properties ",20)))
hankzhang 4:864bb8bde75c 414 {
hankzhang 4:864bb8bde75c 415 //if return "down get_properties"
bbw 8:611fef4d4b5d 416 debug_uart.write("--- get:\r\n", 10);
hankzhang 4:864bb8bde75c 417 debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 418
hankzhang 4:864bb8bde75c 419 //report result to cloud
hankzhang 4:864bb8bde75c 420 }
hankzhang 4:864bb8bde75c 421 else if(!(strncmp(wifi_rxBuf,"down MIIO_net_change ",21)))
hankzhang 4:864bb8bde75c 422 {
hankzhang 4:864bb8bde75c 423 //if return "down MIIO_net_change"
hankzhang 4:864bb8bde75c 424 debug_uart.write(wifi_rxBuf, length);
bbw 8:611fef4d4b5d 425 debug_uart.write("--- net:\r\n",10);
hankzhang 4:864bb8bde75c 426 if((!strncmp(&wifi_rxBuf[21], "offline", 7)))
hankzhang 4:864bb8bde75c 427 {
hankzhang 4:864bb8bde75c 428 //连接中
bbw 8:611fef4d4b5d 429 debug_uart.write("offline\r\n", 9);
hankzhang 4:864bb8bde75c 430 }
hankzhang 4:864bb8bde75c 431 else if((!strncmp(&wifi_rxBuf[21], "local", 5)))
hankzhang 4:864bb8bde75c 432 {
hankzhang 4:864bb8bde75c 433 //连上路由器但未连上服务器
bbw 8:611fef4d4b5d 434 debug_uart.write("local\r\n", 7);
hankzhang 4:864bb8bde75c 435 }
hankzhang 4:864bb8bde75c 436 else if((!strncmp(&wifi_rxBuf[21], "cloud", 5)))
hankzhang 4:864bb8bde75c 437 {
hankzhang 4:864bb8bde75c 438 //连上小米云服务器
bbw 8:611fef4d4b5d 439 debug_uart.write("cloud\r\n", 7);
hankzhang 4:864bb8bde75c 440 g_isCloud = 1;
hankzhang 4:864bb8bde75c 441 }
hankzhang 4:864bb8bde75c 442 }
hankzhang 4:864bb8bde75c 443 else
hankzhang 4:864bb8bde75c 444 {
hankzhang 4:864bb8bde75c 445 debug_uart.write(wifi_rxBuf, length);
hankzhang 4:864bb8bde75c 446 }
hankzhang 4:864bb8bde75c 447
hankzhang 4:864bb8bde75c 448 }
bbw 8:611fef4d4b5d 449 //thread_sleep_for(400);
bbw 8:611fef4d4b5d 450 wait_ms(400);
techneo 0:217105958c2d 451 }
techneo 0:217105958c2d 452 }
techneo 0:217105958c2d 453
bbw 1:0fe432e5dfc4 454
hankzhang 2:f48b0967b6cc 455 void led0_thread() {
hankzhang 3:30d61fa10b98 456 int length;
hankzhang 3:30d61fa10b98 457 while (1) {
hankzhang 3:30d61fa10b98 458 if(debug_uart.readable())
hankzhang 3:30d61fa10b98 459 {
hankzhang 3:30d61fa10b98 460 length = debug_uart.read(rxBuf, sizeof(rxBuf));
hankzhang 3:30d61fa10b98 461 debug_uart.write(rxBuf, length);
hankzhang 3:30d61fa10b98 462 wifi_uart.write(rxBuf, length);
hankzhang 3:30d61fa10b98 463 debug_uart.write("111\r",4);
hankzhang 3:30d61fa10b98 464 }
hankzhang 3:30d61fa10b98 465 if(wifi_uart.readable())
hankzhang 3:30d61fa10b98 466 {
hankzhang 3:30d61fa10b98 467 length = wifi_uart.read(rxBuf, sizeof(rxBuf));
hankzhang 3:30d61fa10b98 468 debug_uart.write(rxBuf, length);
hankzhang 3:30d61fa10b98 469 debug_uart.write("222\r",4);
hankzhang 3:30d61fa10b98 470
hankzhang 3:30d61fa10b98 471 }
hankzhang 3:30d61fa10b98 472 wait(0.5);
bbw 1:0fe432e5dfc4 473 }
bbw 1:0fe432e5dfc4 474 }
hankzhang 3:30d61fa10b98 475
hankzhang 3:30d61fa10b98 476
bbw 6:a9cc2c424cf9 477 void motor1_move(uint8_t dir){/*main motor*/
hankzhang 9:98b398a0e357 478 #if 1
bbw 6:a9cc2c424cf9 479 if(dir==1){/*forward*/
bbw 6:a9cc2c424cf9 480 MOTOA1 = 0;
bbw 6:a9cc2c424cf9 481 MOTOB1 = 1;
bbw 6:a9cc2c424cf9 482 }else if(dir==2){/*backward*/
bbw 6:a9cc2c424cf9 483 MOTOA1 = 1;
bbw 6:a9cc2c424cf9 484 MOTOB1 = 0;
bbw 6:a9cc2c424cf9 485 }else{ /*stop*/
bbw 6:a9cc2c424cf9 486 MOTOA1 = 0;
bbw 6:a9cc2c424cf9 487 MOTOB1 = 0;
bbw 6:a9cc2c424cf9 488 }
hankzhang 9:98b398a0e357 489 #endif
bbw 6:a9cc2c424cf9 490 }
bbw 6:a9cc2c424cf9 491
bbw 6:a9cc2c424cf9 492 void motor2_move(uint8_t dir){/*assistant motor*/
hankzhang 9:98b398a0e357 493 #if 1
bbw 6:a9cc2c424cf9 494 if(dir==1){/*up*/
bbw 6:a9cc2c424cf9 495 MOTOA2 = 0;
bbw 6:a9cc2c424cf9 496 MOTOB2 = 1;
bbw 6:a9cc2c424cf9 497 }else if(dir==2){/*down*/
bbw 6:a9cc2c424cf9 498 MOTOA2 = 1;
bbw 6:a9cc2c424cf9 499 MOTOB2 = 0;
bbw 6:a9cc2c424cf9 500 }else{ /*stop*/
bbw 6:a9cc2c424cf9 501 MOTOA2 = 0;
bbw 6:a9cc2c424cf9 502 MOTOB2 = 0;
bbw 6:a9cc2c424cf9 503 }
hankzhang 9:98b398a0e357 504 #endif
bbw 6:a9cc2c424cf9 505 }
bbw 6:a9cc2c424cf9 506
hankzhang 7:155d5b6a416f 507 void system_init()
hankzhang 7:155d5b6a416f 508 {
hankzhang 7:155d5b6a416f 509
bbw 6:a9cc2c424cf9 510 MOTOA1 = 0;
bbw 6:a9cc2c424cf9 511 MOTOB1 = 0;
bbw 6:a9cc2c424cf9 512 MOTOA2 = 0;
bbw 6:a9cc2c424cf9 513 MOTOB2 = 0;
bbw 8:611fef4d4b5d 514 init_flag = 1;
bbw 8:611fef4d4b5d 515 cur_cnt = 0;
bbw 8:611fef4d4b5d 516 cal_cnt = 68;
bbw 6:a9cc2c424cf9 517 motor1_ready_flag = 0;
bbw 6:a9cc2c424cf9 518 motor2_ready_flag = 0;
bbw 6:a9cc2c424cf9 519 sense_value = 0;
bbw 8:611fef4d4b5d 520 sensor_flag = 1;
bbw 6:a9cc2c424cf9 521 ready_flag = 0;
hankzhang 7:155d5b6a416f 522 debug_uart.write("*******************************\r\n",33);
hankzhang 7:155d5b6a416f 523 debug_uart.write("**********LAIWU TECH***********\r\n",33);
hankzhang 7:155d5b6a416f 524 debug_uart.write("*******************************\r\n",33);
hankzhang 7:155d5b6a416f 525 debug_uart.write("system init done, wait 3 seconds to start\r\n",43);
bbw 6:a9cc2c424cf9 526 wait(3);
hankzhang 7:155d5b6a416f 527 }
hankzhang 7:155d5b6a416f 528
hankzhang 7:155d5b6a416f 529 int main() {
hankzhang 7:155d5b6a416f 530 int length;
hankzhang 7:155d5b6a416f 531 led1 = 1;
bbw 8:611fef4d4b5d 532 char len[50];
hankzhang 7:155d5b6a416f 533
hankzhang 7:155d5b6a416f 534 debug_uart.write("hello world",11);
hankzhang 7:155d5b6a416f 535 WIFI_PWREN = 1;
hankzhang 7:155d5b6a416f 536 wait(3);
hankzhang 7:155d5b6a416f 537 system_init();
hankzhang 7:155d5b6a416f 538 InterruptIn Hall1(PA_14);
hankzhang 7:155d5b6a416f 539 //InterruptIn Hall2(PB_3);
hankzhang 7:155d5b6a416f 540 Hall1.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event
bbw 8:611fef4d4b5d 541 DebugKey.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
hankzhang 7:155d5b6a416f 542 //Hall2.fall(callback(sensor_capture_cb)); // Attach ISR to handle button press event
hankzhang 7:155d5b6a416f 543 debug_uart.write("Hall sensor init done\r\n", 23);
hankzhang 7:155d5b6a416f 544
hankzhang 7:155d5b6a416f 545
hankzhang 7:155d5b6a416f 546 //Thread thread0(osPriorityNormal, 512, nullptr, nullptr);
hankzhang 9:98b398a0e357 547 Thread thread1(osPriorityNormal, 1024, nullptr, nullptr);
hankzhang 7:155d5b6a416f 548 //Thread thread2(osPriorityNormal, 512, nullptr, nullptr);
hankzhang 7:155d5b6a416f 549
hankzhang 7:155d5b6a416f 550 Thread thread2(osPriorityNormal, 512, nullptr, nullptr); /*check the real-time current*/
hankzhang 7:155d5b6a416f 551 //debug_uart.printf("thread1~~~~~~~~~~~~~~~~\r\n");
hankzhang 9:98b398a0e357 552 Thread thread3(osPriorityNormal, 1024, nullptr, nullptr); /*check the real-time current*/
hankzhang 7:155d5b6a416f 553 //debug_uart.printf("thread2~~~~~~~~~~~~~~~~\r\n");
hankzhang 9:98b398a0e357 554 Thread thread4(osPriorityNormal, 1024, nullptr, nullptr); /*check the real-time current*/
hankzhang 7:155d5b6a416f 555 //debug_uart.printf("thread3~~~~~~~~~~~~~~~~\r\n");
bbw 8:611fef4d4b5d 556
hankzhang 7:155d5b6a416f 557 //thread0.start(led0_thread);
hankzhang 7:155d5b6a416f 558 thread1.start(led1_thread);
hankzhang 7:155d5b6a416f 559 thread2.start(Power_thread);
hankzhang 7:155d5b6a416f 560 thread3.start(Motor1_thread);
hankzhang 7:155d5b6a416f 561 thread4.start(Motor2_thread);
hankzhang 7:155d5b6a416f 562
bbw 8:611fef4d4b5d 563 debug_uart.write("four threads created\r\n",22);
bbw 8:611fef4d4b5d 564
hankzhang 7:155d5b6a416f 565 while(1)
hankzhang 7:155d5b6a416f 566 {
hankzhang 9:98b398a0e357 567 if (button1_pressed) { // Set when button is pressed
hankzhang 9:98b398a0e357 568 button1_pressed = false;
hankzhang 9:98b398a0e357 569 debug_uart.write("restore wifi module\r\n",21);
hankzhang 9:98b398a0e357 570 wifi_uart.write("restore\r\n", 9);
hankzhang 7:155d5b6a416f 571 }
hankzhang 9:98b398a0e357 572 #if 0
bbw 8:611fef4d4b5d 573 if(!open_flag&&!close_flag){
bbw 8:611fef4d4b5d 574 if(sensor_cnt>(pre_sensor_cnt+5)){
bbw 8:611fef4d4b5d 575 if(cur_cnt<5){open_flag = 1;tar_cnt = 90;}else{
bbw 8:611fef4d4b5d 576 close_flag = 1;
bbw 8:611fef4d4b5d 577 tar_cnt = 0;
bbw 8:611fef4d4b5d 578 }
bbw 8:611fef4d4b5d 579 }
bbw 8:611fef4d4b5d 580 sprintf(len, "main_thread: sensor_cnt = %d. \r\n", sensor_cnt);
bbw 8:611fef4d4b5d 581 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 582 sprintf(len, "main_thread: pre_sensor_cnt = %d. \r\n", pre_sensor_cnt);
bbw 8:611fef4d4b5d 583 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 584 pre_sensor_cnt = sensor_cnt;
bbw 8:611fef4d4b5d 585 }
hankzhang 9:98b398a0e357 586 #endif
hankzhang 7:155d5b6a416f 587 wait(3);
bbw 8:611fef4d4b5d 588
hankzhang 9:98b398a0e357 589 sprintf(len, "main_thread: current cur_cnt is %d\r\n", cur_cnt);
hankzhang 9:98b398a0e357 590 debug_uart.write(len, sizeof(len));
bbw 8:611fef4d4b5d 591
hankzhang 7:155d5b6a416f 592 }
hankzhang 2:f48b0967b6cc 593 }