LAB: Smart mini-fan with STM32-duino
LAB: Smart mini-fan with STM32-duino
I. Introduction
In this lab, you are required to create a simple program that uses arduino IDE for implementing a simple embedded digital application. Refer to online arduino references for the full list of APIs.
Hardware
NUCLEO -F401RE or NUCLEO -F411RE
Ultrasonic distance sensor(HC-SR04), DC motor (RK-280RA)
Software
Arduino IDE
II. Procedure
The program needs to run the Fan only when the distance of an object is within a certain value.
Example: An automatic mini-fan that runs only when the face is near the fan. Otherwise turns off.
As the button B1 is pressed, change the fan velocity. The MODE(states) are
MODE(state): OFF(0%), MID(50%), HIGH(100%)
When the object(face) is detected about 50 mm away, then it automatically pauses the fan temporarily.
Even the fan is temporarily paused, the MODE should be changed whenever the button B1 is pressed
When the object(face) is detected within 50mm, then it automatically runs the fan
It must run at the speed of the current MODE
LED(LED1): Turned OFF when MODE=OFF. Otherwise, blink the LED with 1 sec period (1s ON, 1s OFF)
Print the distance and PWM duty ratio in Tera-Term console (every 1 sec).
Must use Mealy FSM to control the mini-fan
Draw a FSM(finite-state-machine) table and state diagram
Example Table. See below for example codes
III. Configuration
Ultrasonic distance sensor
Trigger:
Generate a trigger pulse as PWM to the sensor
Pin: D10 (TIM4 CH1)
PWM out: 50ms period, 10us pulse-width
Echo:
Receive echo pulses from the ultrasonic sensor
Pin: D7 (Timer1 CH1)
Input Capture: Input mode
Measure the distance by calculating pulse-width of the echo pulse.
USART
Display measured distance in [cm] on serial monitor of Tera-Term.
Baudrate 9600
DC Motor
PWM: PWM1, set 10ms of period by default
Pin: D11 (Timer1 CH1N)
IV. Report & Score
You are required to write a concise lab report in 'md' format. On-Line submission.
Lab Report:
Write Lab Title, Date, Your name
Introduction
Draw State Table and State Diagram to explain your logic [30%]
Explain your source code with necessary comments [30%]
External circuit diagram that connects MCU pins to peripherals(sensor/actuator) [10%]
Demonstration Video. Include the link in the report [30%]
Submit in both PDF and original file (*.md etc)
FSM Examples
Example 1
INPUT:
X: Button Pressed {0, 1}
OUTPUT:
LED {ON, OFF}
STATE:
S0: FAN OFF State
S1: FAN ON State
Moore FSM Table
Mealy FSM Table
Example Code
#include <stdio.h>
// State definition
#define S0 0
#define S1 1
#define LOW 0
#define HIGH 1
unsigned char state = S0;
unsigned char nextstate = S0;
unsigned char input = LOW;
unsigned char ledOut = LOW;
typedef struct {
unsigned int next[2]; // nextstate = FSM[state].next[input]
unsigned int out; // output = FSM[state].out
} State_t;
State_t FSM[2] = {
{{S0, S1},LOW},
{{S1, S0},HIGH}
};
int main()
{
printf("Start\n\r");
input=LOW;
nextstate = FSM[state].next[input];
state=nextstate;
ledOut = FSM[state].out;
printf("state=%d, ledOut=%d \n\r",state,ledOut);
input=HIGH;
nextstate = FSM[state].next[input];
state=nextstate;
ledOut = FSM[state].out;
printf("state=%d, ledOut=%d \n\r",state,ledOut);
input=LOW;
nextstate = FSM[state].next[input];
state=nextstate;
ledOut = FSM[state].out;
printf("state=%d, ledOut=%d \n\r",state,ledOut);
return 0;
}
// State definition
#define S0 0
#define S1 1
// Address number of output in array
#define LED 1
typedef struct {
uint32_t next[2]; // nextstate = FSM[state].next[input]
uint32_t out; // output = FSM[state].out
} State_t;
State_t FSM[2] = {
{{S0, S1},LOW},
{{S1, S0},HIGH}
};
const int ledPin = 13;
const int btnPin = 3;
unsigned char state = S0;
unsigned char input = 0;
unsigned char ledOut = LOW;
void setup() {
// initialize the LED pin as an output:
pinMode(ledPin, OUTPUT);
// initialize the pushbutton pin as an interrupt input:
pinMode(btnPin, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(btnPin), pressed, FALLING);
Serial.begin(9600);
}
void loop() {
// First, Update next state. Then, Output. Repeat
// 1. Update State <-- Next State
nextState();
// 2. Output of states - Logic
stateOutput();
digitalWrite(ledPin, ledOut);
delay(1000);
}
void pressed() {
input = 1;
}
void nextState() {
state = FSM[state].next[input];
// Intialize Button Pressed
input = 0;
}
void stateOutput() {
ledOut = FSM[state].out;
}#include <stdio.h>
// State definition
#define S0 0
#define S1 1
#define LOW 0
#define HIGH 1
unsigned char state = S0;
unsigned char nextstate = S0;
unsigned char input = LOW;
unsigned char ledOut = LOW;
// State table definition
typedef struct {
unsigned int next[2]; // nextstate = FSM[state].next[input]
unsigned int out[2]; // output = FSM[state].out[input]
} State_t;
State_t FSM[2] = {
{ {S0, S1},{LOW,HIGH} },
{ {S1, S0},{HIGH,LOW} }
};
int main()
{
printf("Start\n\r");
input=LOW;
ledOut = FSM[state].out[input];
nextstate = FSM[state].next[input];
state=nextstate;
printf("state=%d, ledOut=%d \n\r",state,ledOut);
input=HIGH;
ledOut = FSM[state].out[input];
nextstate = FSM[state].next[input];
state=nextstate;
printf("state=%d, ledOut=%d \n\r",state,ledOut);
input=LOW;
ledOut = FSM[state].out[input];
nextstate = FSM[state].next[input];
state=nextstate;
printf("state=%d, ledOut=%d \n\r",state,ledOut);
return 0;
}
// State definition
#define S0 0
#define S1 1
// Address number of output in array
#define PWM 0
#define LED 1
const int ledPin = 13;
const int pwmPin = 11;
const int btnPin = 3;
unsigned char state = S0;
unsigned char nextstate = S0;
unsigned char input = 0;
unsigned char ledOut = LOW;
unsigned char pwmOut = 0;
// State table definition
typedef struct {
unsigned int next[2]; // nextstate = FSM[state].next[input]
unsigned int out[2]; // output = FSM[state].out[input]
} State_t;
State_t FSM[2] = {
{ {S0, S1},{LOW,HIGH} },
{ {S1, S0},{HIGH,LOW} }
};
void setup() {
// initialize the LED pin as an output:
pinMode(ledPin, OUTPUT);
// initialize the pushbutton pin as an interrupt input:
pinMode(btnPin, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(btnPin), pressed, FALLING);
}
void loop() {
// First, Output of current State. Then Update next state. Repeat
// 1. Output State
stateOutput();
digitalWrite(ledPin, ledOut);
// 2. Update State <-- Next State
nextState();
delay(1000);
}
void pressed() {
input = 1;
}
void nextState() {
nextstate = FSM[state].next[input];
state = nextstate;
// Intialize Button Pressed
input = 0;
}
void stateOutput() {
ledOut = FSM[state].out[input];
}Example 2
INPUT:
X: Button Pressed {0, 1}
OUTPUT:
VEL {0%, 100%}
LED {ON, OFF}
STATE:
S0: FAN OFF State
S1: FAN ON State
Mealy FSM Table
Moore FSM Table
Example Code
// State definition
#define S0 0
#define S1 1
const int ledPin = 13;
const int pwmPin = 11;
const int btnPin = 3;
unsigned char state = S0;
unsigned char nextstate = S0;
unsigned char input = 0;
unsigned char ledOut = LOW;
unsigned char pwmOut = 0;
void setup() {
// initialize the LED pin as an output:
pinMode(ledPin, OUTPUT);
// Initialize pwm pin as an output:
pinMode(pwmPin, OUTPUT);
// initialize the pushbutton pin as an interrupt input:
pinMode(btnPin, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(btnPin), pressed, FALLING);
}
void loop() {
// Calculate next state. then update State
nextState();
// Output
analogWrite(pwmPin, pwmOut);
digitalWrite(ledPin, ledOut);
delay(1000);
}
void pressed(){
input = 1;
}
void nextState(){
switch(state){
case S0:
if (input){
nextstate = S1;
pwmOut = 160;
ledOut = HIGH;
}
else{
nextstate = S0;
pwmOut = 0;
ledOut = LOW;
}
break;
case S1:
if (input){
nextstate = S0;
pwmOut = 0;
ledOut = LOW;
}
else {
nextstate = S1;
pwmOut = 160;
ledOut = HIGH;
}
break;
}
state = nextstate;
input = 0;
}// State definition
#define S0 0
#define S1 1
// Address number of output in array
#define PWM 0
#define LED 1
const int ledPin = 13;
const int pwmPin = 11;
const int btnPin = 3;
unsigned char state = S0;
unsigned char nextstate = S0;
unsigned char input = 0;
unsigned char ledOut = LOW;
unsigned char pwmOut = 0;
// State table definition
typedef struct {
uint32_t out[2][2]; // output = FSM[state].out[input][PWM or LED]
uint32_t next[2]; // nextstate = FSM[state].next[input]
} State_t;
State_t FSM[2] = {
{ {{0 , LOW }, {160, HIGH}}, {S0, S1} },
{ {{160, HIGH}, {0 , LOW }}, {S1, S0} }
};
void setup() {
// initialize the LED pin as an output:
pinMode(ledPin, OUTPUT);
// Initialize pwm pin as an output:
pinMode(pwmPin, OUTPUT);
// initialize the pushbutton pin as an interrupt input:
pinMode(btnPin, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(btnPin), pressed, FALLING);
}
void loop() {
// First, Output of current State. Then Update next state. Repeat
// 1. Output State
stateOutput();
analogWrite(pwmPin, pwmOut);
digitalWrite(ledPin, ledOut);
// 2. Update State <-- Next State
nextState();
delay(1000);
}
void pressed() {
input = 1;
}
void nextState() {
nextstate = FSM[state].next[input];
state = nextstate;
// Intialize Button Pressed
input = 0;
}
void stateOutput() {
pwmOut = FSM[state].out[input][PWM];
ledOut = FSM[state].out[input][LED];
}// State definition
#define S0 0
#define S1 1
// Address number of output in array
#define PWM 0
#define LED 1
typedef struct {
uint32_t out[2]; // output = FSM[state].out[PWM or LED]
uint32_t next[2]; // nextstate = FSM[state].next[input]
} State_t;
State_t FSM[2] = {
{{0 , LOW }, {S0, S1}},
{{160 , HIGH}, {S1, S0}}
};
const int ledPin = 13;
const int pwmPin = 11;
const int btnPin = 3;
unsigned char state = S0;
unsigned char input = 0;
unsigned char pwmOut = 0;
unsigned char ledOut = LOW;
void setup() {
// initialize the LED pin as an output:
pinMode(ledPin, OUTPUT);
// Initialize pwm pin as an output:
pinMode(pwmPin, OUTPUT);
// initialize the pushbutton pin as an interrupt input:
pinMode(btnPin, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(btnPin), pressed, FALLING);
Serial.begin(9600);
}
void loop() {
// First, Update next state. Then, Output. Repeat
// 1. Update State <-- Next State
nextState();
// 2. Output of states
stateOutput();
analogWrite(pwmPin, pwmOut);
digitalWrite(ledPin, ledOut);
delay(1000);
}
void pressed() {
input = 1;
}
void nextState() {
state = FSM[state].next[input];
// Intialize Button Pressed
input = 0;
}
void stateOutput() {
pwmOut = FSM[state].out[PWM];
ledOut = FSM[state].out[LED];
}FSM Example 3
INPUT:
X: Button Pressed {0, 1}
Y: Object Detected {0, 1}
OUTPUT:
VEL {0%, 50% 100%}
LED {ON, OFF}
STATE:
S0: FAN OFF State
S1: FAN MID State
S2: FAN HIGH State
P_50: FAN 50% PAUSE State
P_100: FAN 100% PAUSE State
Mealy FSM Table
EXERCISE
Moore FSM Table
Example Code
// State definition
#define S0 0
#define S1 1
#define S2 2
const int ledPin = 13;
const int pwmPin = 11;
const int btnPin = 3;
int state = S0;
int bPressed = 0;
int ledOn = LOW;
void setup() {
// [TO-DO] YOUR CODE GOES HERE
}
void loop() {
// [TO-DO] YOUR CODE GOES HERE
// Output State
stateOutput();
// [TO-DO] YOUR CODE GOES HERE
// Calculate next state, then update State
nextState();
// [TO-DO] YOUR CODE GOES HERE
}
void pressed(){
bPressed = 1;
}
void nextState(){
// [TO-DO] YOUR CODE GOES HERE
// Output
analogWrite(pwmPin, pwm);
digitalWrite(ledPin, ledState);
}
void stateOutput(){
// [TO-DO] YOUR CODE GOES HERE
}// State definition
#define S0 0 // Fan OFF
#define S1 1 // Fan vel = 50%
#define S2 2 // Fan vel = 100%
#define P50 3 // Pause (vel = 50%)
#define P100 4 // Pause (vel = 100%)
// Address number of output in array
#define PWM 0
#define LED 1
// State table definition
typedef struct {
uint32_t out[2]; // output = FSM[state].out[PWM or LED]
uint32_t next[2][2]; // nextstate = FSM[state].next[input X][input Y]
} State_t;
State_t FSM[5] = {
{ {0 , LOW }, {{S0 , S0}, {P50 , S1}} },
{ {80 , HIGH}, {{P50 , S1}, {P100, S2}} },
{ {160 , HIGH}, {{P100, S2}, {S0 , S0}} },
{ {0 , HIGH}, {{P50 , S1}, {P100, S2}} },
{ {0 , HIGH}, {{P100, S2}, {S0 , S0}} },
};
// Pin setting
const int ledPin = 13;
const int pwmPin = 11;
const int btnPin = 3;
const int trigPin = 10;
const int echoPin = 7;
unsigned char state = S0;
unsigned char input[2] = {0, 0};
unsigned char pwmOut = 0;
unsigned char ledOut = LOW;
unsigned long duration;
float distance;
int thresh = 5;
void setup() {
// initialize the LED pin as an output:
pinMode(ledPin, OUTPUT);
// Initialize pwm pin as an output:
pinMode(pwmPin, OUTPUT);
// initialize the pushbutton pin as an interrupt input:
pinMode(btnPin, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(btnPin), pressed, FALLING);
// Initialize the trigger pin as an output
pinMode(trigPin, OUTPUT);
// Initialize the echo pin as an input
pinMode(echoPin, INPUT);
Serial.begin(9600);
}
void loop() {
// Generate pwm singal on the trigger pin.
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
delayMicroseconds(10);
// Distance is calculated using how much time it takes.
duration = pulseIn(echoPin, HIGH);
distance = (float)duration / 58.0;
// Calculate next state. then update State
nextState();
// Output of states
stateOutput();
analogWrite(pwmPin, pwmOut);
digitalWrite(ledPin, ledOut);
Serial.print("distance = ");
Serial.print(distance);
Serial.println(" [cm]");
delay(1000);
}
void pressed(){
input[0] = 1;
nextState();
input[0] = 0;
}
void nextState(){
if (distance < thresh)
input[1] = 1;
else
input[1] = 0;
// get nextState
state = FSM[state].next[input[0]][input[1]];
}
void stateOutput(){
pwmOut = FSM[state].out[PWM];
ledOut = FSM[state].out[LED];
}Last updated
Was this helpful?