STM32狀態(tài)機(jī)編程實例——全自動洗衣機(jī)(上)

這樣修改后的按鍵狀態(tài)機(jī)，就是一個獨(dú)立的模塊了，可以通過傳入不同的參數(shù)，實現(xiàn)不同按鍵的檢測。

bool key_press_check(KeyFsmData *pKeyFsmData)
{
	bool bPress = false;
		
	switch(pKeyFsmData->keyStatus)
	{
//省略...

對于本篇需要的4個按鍵的檢測，就可以定義4個數(shù)據(jù)結(jié)構(gòu)體，分別調(diào)用4次狀態(tài)機(jī)函數(shù)即可，實現(xiàn)代碼的復(fù)用。

KeyFsmData pKey0FsmData;
KeyFsmData pKey1FsmData;
KeyFsmData pKey2FsmData;
KeyFsmData pKey3FsmData;

void key_check_init(KeyFsmData *pKeyFsmData, int keyIdx)
{
	pKeyFsmData->keyStatus = KS_RELEASE;
	pKeyFsmData->lastKeyStatus = KS_RELEASE;
	pKeyFsmData->nowKeyStatus = KS_RELEASE;
	pKeyFsmData->keyIdx = keyIdx;
}

void multi_key_check_init()
{
	key_check_init(&pKey0FsmData, 0);
	key_check_init(&pKey1FsmData, 1);
	key_check_init(&pKey2FsmData, 2);
	key_check_init(&pKey3FsmData, 3);
}

int g_keyPressIdx = -1;
void multi_key_check()
{
	bool key0 = key_press_check(&pKey0FsmData);
	bool key1 = key_press_check(&pKey1FsmData);
	bool key2 = key_press_check(&pKey2FsmData);
	bool key3 = key_press_check(&pKey3FsmData);
	
	if (key0 | key1 | key2 | key3)
	{
		//printf("key0:%d, key1:%d, key2:%d, key3:%d, \r\n", key0, key1, key2, key3);
		
		if (key0)
		{
			g_keyPressIdx = 0;
		}
		else if (key1)
		{
			g_keyPressIdx = 1;
		}
		else if (key2)
		{
			g_keyPressIdx = 2;
		}
		else if (key3)
		{
			g_keyPressIdx = 3;
		}
	}
}

int get_press_key_idx()
{
	int idx = g_keyPressIdx;
	g_keyPressIdx = -1;
	
	return idx;
}

其中，multi_key_check函數(shù)，放到50ms周期的定時器中斷服務(wù)函數(shù)中，使按鍵狀態(tài)機(jī)程序運(yùn)行起來。

get_press_key_idx函數(shù)，用于洗衣機(jī)程序來獲取不同按鍵的按下事件，每次獲取后，將按鍵事件清除(g_keyPressIdx設(shè)為無效值-1)

3.2 洗衣功能

按照上面繪制的洗衣機(jī)狀態(tài)圖，使用switch-case法編寫對應(yīng)的程序即可：

#define WASHER_STATUS_ENUM(STATUS)                     \
	STATUS(WS_INIT)         /*開機(jī)初始化自檢*/         \
	STATUS(WS_IDLE)         /*空閑(等待模式設(shè)置)狀態(tài)*/ \
	STATUS(WS_ADD_WATER)    /*加水狀態(tài)*/               \
	STATUS(WS_WASH)         /*清洗狀態(tài)*/               \
	STATUS(WS_DRAIN_WATER)  /*排水狀態(tài)*/               \
	STATUS(WS_SPIN_DRY)     /*甩干狀態(tài)*/               \
	STATUS(WS_PAUSE)        /*暫停狀態(tài)*/               \
	STATUS(WS_NUM)          /*狀態(tài)總數(shù)(無效狀態(tài))*/ 

typedef enum
{
	WASHER_STATUS_ENUM(ENUM_ITEM)
}WASHER_STATUS;

const char* washer_status_name[] = {
	WASHER_STATUS_ENUM(ENUM_STRING)
};

WASHER_STATUS g_washerStatus = WS_INIT;    //當(dāng)前循環(huán)結(jié)束的(狀態(tài)機(jī)的)狀態(tài)
WASHER_STATUS g_nowWasherStatus = WS_INIT; //當(dāng)前狀態(tài)(每次循環(huán)后與pKeyFsmData->keyStatus保持一致)
WASHER_STATUS g_lastWasherStatus = WS_INIT; //上次狀態(tài)(用于記錄前一狀態(tài)以區(qū)分狀態(tài)的來源)

int g_WorkLoopCnt = 0;
int g_WaterLevel = 5; //1~8
int g_WashMode = 2; //暫定為清洗次數(shù):1~3
int g_curWashCnt = 0;

void washer_run_loop()
{
	switch(g_washerStatus)
	{
		/*開機(jī)初始化自檢*/ 
		case WS_INIT:
			g_washerStatus = washer_do_init();
			break;
		
		/*空閑(等待模式設(shè)置)狀態(tài)*/
		case WS_IDLE:
			g_washerStatus = washer_do_idle();
			break;
		
		/*加水狀態(tài)*/
		case WS_ADD_WATER:
			g_washerStatus = washer_do_add_water();
			break;
		
		/*清洗狀態(tài)*/
		case WS_WASH:
			g_washerStatus = washer_do_wash();
			break;
		
		/*排水狀態(tài)*/
		case WS_DRAIN_WATER:
			g_washerStatus = washer_do_drain_water();
			break;
		
		/*甩干狀態(tài)*/
		case WS_SPIN_DRY:
			g_washerStatus = washer_do_spin_dry();
			break;
		
		/*暫停狀態(tài)*/
		case WS_PAUSE:
			g_washerStatus = washer_do_pause();
			break;
		
		default: break;
	}
	
	if (g_washerStatus != g_nowWasherStatus)
	{
		g_lastWasherStatus = g_nowWasherStatus;
		g_nowWasherStatus = g_washerStatus;
		//printf("new washer status:%d(%s)\r\n", g_washerStatus, washer_status_name[g_washerStatus]);
	}
}

這里將洗衣機(jī)不同狀態(tài)時的處理邏輯，都分別使用函數(shù)來實現(xiàn)，并將其返回值作為下一個要跳轉(zhuǎn)的狀態(tài)。

各個狀態(tài)的處理函數(shù)如下：

/*開機(jī)初始化自檢*/ 
WASHER_STATUS washer_do_init()
{
	WASHER_STATUS nextStatus = WS_INIT;
	
	g_WorkLoopCnt++;
	if (10 == g_WorkLoopCnt) //自檢結(jié)束
	{
		printf("default water level:%d\r\n", g_WaterLevel);
		printf("default wash mode:%d\r\n", g_WashMode);
		printf("washer idle...\r\n");
		
		g_WorkLoopCnt = 0;
		nextStatus = WS_IDLE;
	}
	
	return nextStatus;
}

/*空閑(等待模式設(shè)置)狀態(tài)*/
WASHER_STATUS washer_do_idle()
{
	WASHER_STATUS nextStatus = WS_IDLE;
	
	const WASHER_KEY key = check_key_press();
	switch(key)
	{
		case W_KEY_START_PAUSE:
			g_WorkLoopCnt = 0;
			nextStatus = WS_ADD_WATER;
			printf("add water...\r\n");
		break;
		
		case W_KEY_WATER_LEVEL:
			g_WaterLevel = (g_WaterLevel == 8) ? 1 : (g_WaterLevel+1);
			printf("set water level:%d\r\n", g_WaterLevel);
		break;
			
		case W_KEY_WASH_MODE:
			g_WashMode = (g_WashMode == 3) ? 1 : (g_WashMode+1);
			printf("set wash mode:%d\r\n", g_WashMode);
		break;
		
		default: break;
	}
	
	return nextStatus;
}

/*加水狀態(tài)*/
WASHER_STATUS washer_do_add_water()
{
	WASHER_STATUS nextStatus = WS_ADD_WATER;
	
	const WASHER_KEY key = check_key_press();
	if (key == W_KEY_START_PAUSE)
	{
		nextStatus = WS_PAUSE;
		printf("[%s] pause...\r\n", __func__);
	}
	else
	{
		g_WorkLoopCnt++;
		if (g_WaterLevel == (g_WorkLoopCnt / 10)) //加水結(jié)束
		{
			g_WorkLoopCnt = 0;
			nextStatus = WS_WASH;
			printf("[%s] done\r\n", __func__);
			printf("wash...\r\n");
		}
	}
	
	return nextStatus;
}

/*清洗狀態(tài)*/
WASHER_STATUS washer_do_wash()
{
	WASHER_STATUS nextStatus = WS_WASH;
	
	const WASHER_KEY key = check_key_press();
	if (key == W_KEY_START_PAUSE)
	{
		nextStatus = WS_PAUSE;
		printf("[%s] pause...\r\n", __func__);
	}
	else
	{
		g_WorkLoopCnt++;
		if (6 == (g_WorkLoopCnt / 10)) //清洗結(jié)束
		{
			g_WorkLoopCnt = 0;
			nextStatus = WS_DRAIN_WATER;
			printf("[%s] done\r\n", __func__);
			printf("drain water...\r\n");
		}
	}
	
	return nextStatus;
}

/*排水狀態(tài)*/
WASHER_STATUS washer_do_drain_water()
{
	WASHER_STATUS nextStatus = WS_DRAIN_WATER;
	
	const WASHER_KEY key = check_key_press();
	if (key == W_KEY_START_PAUSE)
	{
		nextStatus = WS_PAUSE;
		printf("[%s] pause...\r\n", __func__);
	}
	else
	{
		g_WorkLoopCnt++;
		if (3 == (g_WorkLoopCnt / 10)) //排水結(jié)束
		{
			printf("[%s] done\r\n", __func__);
			g_curWashCnt++;
			printf("current wash and drain count:%d(target:%d)\r\n", g_curWashCnt, g_WashMode);
			g_WorkLoopCnt = 0;
			if (g_WashMode == g_curWashCnt)
			{
				printf("spin dry...\r\n");
				nextStatus = WS_SPIN_DRY;
			}
			else
			{
				printf("add water...\r\n");
				nextStatus = WS_ADD_WATER;
			}
		}
	}
	
	return nextStatus;
}

/*甩干狀態(tài)*/
WASHER_STATUS washer_do_spin_dry()
{
	WASHER_STATUS nextStatus = WS_SPIN_DRY;
	
	const WASHER_KEY key = check_key_press();
	if (key == W_KEY_START_PAUSE)
	{
		nextStatus = WS_PAUSE;
		printf("[%s] pause...\r\n", __func__);
	}
	else
	{
		g_WorkLoopCnt++;
		if (100 == g_WorkLoopCnt) //甩干結(jié)束
		{
			g_WorkLoopCnt = 0;
			nextStatus = WS_IDLE;
			printf("[%s] done\r\n", __func__);
			printf("enter idle mode\r\n");
		}
	}
	
	return nextStatus;
}

/*暫停狀態(tài)*/
WASHER_STATUS washer_do_pause()
{
	WASHER_STATUS nextStatus = WS_PAUSE;
	
	const WASHER_KEY key = check_key_press();
	if (key != W_KEY_NULL)
	{
		switch (g_lastWasherStatus)
		{
			case WS_ADD_WATER:   nextStatus = WS_ADD_WATER;   printf("resume...\r\n"); break;
			case WS_WASH:        nextStatus = WS_WASH;        printf("resume...\r\n"); break;
			case WS_DRAIN_WATER: nextStatus = WS_DRAIN_WATER; printf("resume...\r\n"); break;
			case WS_SPIN_DRY:    nextStatus = WS_SPIN_DRY;    printf("resume...\r\n"); break;
			default: break;
		}
	}
	
	return nextStatus;
}

對于按鍵的獲取，這里定義了幾個對應(yīng)的功能按鍵，并從按鍵狀態(tài)機(jī)函數(shù)中獲取按鍵索引，再轉(zhuǎn)為洗衣機(jī)程序所需的對應(yīng)功能按鍵：

typedef enum
{
	W_KEY_NULL,        //沒有按鍵按下
	W_KEY_POWER,       //電源鍵按下
	W_KEY_WATER_LEVEL, //水位鍵按下
	W_KEY_WASH_MODE,   //清洗模式鍵按下
	W_KEY_START_PAUSE  //啟動/暫停鍵按下
}WASHER_KEY;

WASHER_KEY check_key_press()
{
	WASHER_KEY washerKey = W_KEY_NULL;
	int idx = get_press_key_idx();
	if (idx != -1)
	{
		switch(idx)
		{
			case 0: washerKey = W_KEY_POWER; break; //電源鍵按下
			case 1: washerKey = W_KEY_WATER_LEVEL; break; //水位鍵按下
			case 2: washerKey = W_KEY_WASH_MODE; break; //清洗模式鍵按下
			case 3: washerKey = W_KEY_START_PAUSE; break; //啟動/暫停鍵按下
			default: break;
		}
		//printf("%s idx:%d -> washerKey:%d\r\n", __func__, idx, washerKey);
	}
	
	return washerKey;
}

洗衣機(jī)狀態(tài)機(jī)主程序，可以放到main函數(shù)中，每隔100ms調(diào)用一次，使其運(yùn)行起來：

int main(void)
{	
	delay_init();
	KEY_Init();
	uart_init(115200);
	TIM3_Int_Init(500-1,7200-1); //調(diào)用定時器使得50ms產(chǎn)生一個中斷

	printf("hello\r\n");
	
	while(1)
	{
		washer_run_loop();
		delay_ms(100);
	}
}

3.3 測試

將代碼燒寫到STM32板子中，通過3個按鍵(電源鍵暫不使用)操作，并通過串口打印，查看全自動洗衣機(jī)的運(yùn)行情況：

4 總結(jié)

本篇實現(xiàn)了一款全自動洗衣機(jī)的基礎(chǔ)洗衣控制流程，可實現(xiàn)不同水位與清洗次數(shù)的設(shè)置，以及任務(wù)的暫停與繼續(xù)。此外，通過對之前按鍵狀態(tài)機(jī)的進(jìn)一步優(yōu)化修改，實現(xiàn)了按鍵狀態(tài)機(jī)的復(fù)用，實現(xiàn)多個按鍵的檢測。下篇文章將進(jìn)一步進(jìn)行功能優(yōu)化，添加OLED小屏幕實現(xiàn)不同狀態(tài)的可視化展示。


審核編輯：湯梓紅