STM32 state machine programming example - full automatic washing machine (Part 2)

Last article , Through state machine programming , The logic control of the automatic washing machine is realized , And display each status through serial port printing .

This article , In order to feel the operation of the state machine more intuitively , Use 0.96 " OLED To display various statuses , And match the corresponding dynamic icons to reflect the various states of the washing machine .

Let's see the demonstration effect first ：https://www.bilibili.com/video/BV1xT411E7pY

1 OLED Picture shows

In order to be convenient in OLED Display text and pictures on , Some graphic libraries can help us display , What we use here is U8g2 Graphics library .

1.1 U8g2 Library migration

U8g2 Library in STM32 Transplantation on , The previous article has already introduced , For the specific migration process, please refer to this ：

After successful transplantation , You can use test routines to verify U8g2 Display effect of Library .

1.2 Picture shows

Compare pictures with words , It can show more rich content , Therefore, this article shows the working state of the washing machine through simple monochrome pictures .

U8g2 The library displays pictures , have access to u8g2_DrawXBM function , You need to convert the image into an array first .

You can use this online web page to convert image data ：https://tools.clz.me/image-to-bitmap-array

Here you can use your favorite pictures , To display , For example, I selected the washing machine icon with different water volume to display the current water volume of the washing machine , Use the alternate display of multiple pictures to produce the animation effect of washing machine cleaning .

2 More status outputs

OLED The screen should show the working state of the washing machine , You need to get the specific working state of the state machine . Here are some customized data needed for presentation , Form a structure , The state machine is running , Modify each member variable , then OLED Get these data at the end , Show it again .

typedef struct
{
    
	WASHER_STATUS washerStatus; /* The working state of the washing machine */
	int targetWaterLevel;       /* Target water level of washing machine */
	int targetWashTimes;        /* Target cleaning times of washing machine */
	int remainingTime;          /* The remaining working time of the washing machine ( Not used yet )*/
	int curWaterLevel;          /* The current water level of the washing machine */
	bool hasNewData;            /* Is there any new data ( Used to tell OLED Whether to refresh the display )*/
}WASHER_OUTPUT_DATA;

about OLED The display logic of , Here is after each cycle of the state machine , Call the following program logic to show ：

void show_washer_status(WASHER_OUTPUT_DATA washerOutPutData)
{
    
	if (washerOutPutData.hasNewData)
	{
    
		WASHER_STATUS s = washerOutPutData.washerStatus;
		printf("u8g2 get status:%d(%s)\r\n", s, washer_status_name[s]);
		switch(s)
		{
    
			case WS_INIT: showWasherInit(&u8g2, washerOutPutData); break;
			case WS_IDLE: showWasherIdle(&u8g2, washerOutPutData); break;
			case WS_ADD_WATER: showWasherAddWater(&u8g2, washerOutPutData); break;
			case WS_WASH: showWasherWash(&u8g2, washerOutPutData); break;
			case WS_DRAIN_WATER: showWasherDrainWater(&u8g2, washerOutPutData); break;
			case WS_SPIN_DRY: showWasherSpinDry(&u8g2, washerOutPutData); break;
			case WS_PAUSE: showWasherPause(&u8g2, washerOutPutData); break;
			case WS_DONE: showWasherDone(&u8g2, washerOutPutData); break;
			default: break;
		}
	}
}

When new data is generated in this round of state cycle , Then according to the main state of the state machine , Respectively display the pictures or animations in the corresponding state .

For example, adding water , According to the current water level , Constantly update the water level shown in the picture ：

void drawCurWaterLevel(u8g2_t *u8g2, int level)
{
    
	switch(level)
	{
    
		case 0: u8g2_DrawXBM(u8g2,64, 16, 48, 48, pic_water_0); break;
		case 1: u8g2_DrawXBM(u8g2,64, 16, 48, 48, pic_water_1); break;
		case 2: u8g2_DrawXBM(u8g2,64, 16, 48, 48, pic_water_2); break;
		case 3: u8g2_DrawXBM(u8g2,64, 16, 48, 48, pic_water_3); break;
		case 4: u8g2_DrawXBM(u8g2,64, 16, 48, 48, pic_water_4); break;
		case 5: u8g2_DrawXBM(u8g2,64, 16, 48, 48, pic_water_5); break;
		case 6: u8g2_DrawXBM(u8g2,64, 16, 48, 48, pic_water_6); break;
		case 7: u8g2_DrawXBM(u8g2,64, 16, 48, 48, pic_water_7); break;
		default: break;
	}
}

void showWasherAddWater(u8g2_t *u8g2, WASHER_OUTPUT_DATA data)
{
    
	char strStatus[14] = "AddWater";
	u8g2_ClearBuffer(u8g2);
    u8g2_SetFont(u8g2,u8g2_font_ncenB10_tr);
	u8g2_DrawStr(u8g2,0,15,strStatus);
	
	drawCurWaterLevel(u8g2, data.curWaterLevel);
	
	u8g2_SendBuffer(u8g2);
}

For the structure of the main program , It's the same as the last one , Just added OLED Display of ：

int main(void)
{
    	
	delay_init();	    	 // Delay function initialization  
	LED_Init();		  	// Initialization and LED Connected hardware interface 
	oled_init();
	
	KEY_Init();
	uart_init(115200);
	TIM3_Int_Init(500-1,7200-1); // Call the timer to make 50ms Create an interrupt 

	printf("hello\r\n");
	
	while(1)
	{
    
		washer_run_loop();
		
		WASHER_OUTPUT_DATA data = get_washer_output_data();
		
		show_washer_status(data);
		
		delay_ms(100);
	}
}

Every time the state machine runs a cycle , Get the specific status data , And then use OLED Show the specific status data .

3 Concrete demonstration

Let's compare this state diagram , Experiment to test the execution of state machine .

• Normal laundry process

Do not consider suspending this state , After the washing machine starts , Experience in turn Free 、 Add water 、 cleaning 、 Drainage 、 spin-dry These processes are over , If the cleaning count is set, I don't know 1 Time , be Add water 、 cleaning 、 Drainage this 3 Each action will be executed by the corresponding number of times .

• Pause and continue in the laundry process

In the running state of the washing machine ： Add water 、 cleaning 、 Drainage 、 spin-dry , By the pause button , You can pause the execution of these States , At this time, the status opportunity runs in pause mode , Press again to continue （ Pause / A button to continue ）, Will continue to perform laundry work .

• After suspension, modify the water volume or times before continuing

In the washing process , If you want to Modify the amount or times of laundry , You can pause the operation of the washing machine by pressing the pause button , Then press the water level or number button , Switch the state machine from the suspended state to the idle state first , After adjusting the water level or times , Go on , The washing program will continue to run according to the new setting parameters .

For example, the original cleaning water level is 3, The cleaning times are 1, Press pause when adding water for the first cleaning , Then modify the cleaning parameters , For example, the water level is set to 5, The number is set to 2, After continuing , It will enter the state of adding water again , And fill the water level to 5 after , Keep cleaning , And clean 2 End of pass .

notes ： This state machine still has room for further optimization , such as ：

• Water will only be added , This round of cleaning will not discharge . For example, the first set water level is 5, In addition to 3 Time , Pause and change to 2, After continuing , If it is judged to be greater than the target water level, it will directly start cleaning , It will not be decided by the water level 3 Then drain to the water level 2 Wash again
• Any cleaning state （ Add water 、 cleaning 、 Drainage ） Press pause to adjust the water level , Go on , By default, it will jump to the new cleaning cycle with water , If it is in the drainage state , After adjusting the water level , The water has not been ranked this time , Just add water again and start washing , Not quite reasonable

above 3 Demonstration effect of three test methods , You can compare and watch the demonstration video ：
https://www.bilibili.com/video/BV1xT411E7pY

4 summary

This article is based on the state machine programming example of the previous full-automatic washing machine , Added OLED To update the intuitive display of the working state of the washing machine , And pass 3 A test scenario to show the execution of the washing machine working state machine .