Forigo
/
FORIGO_Modula_V7_3_VdcStep_DICEMBRE2020
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Dependencies: mbed X_NUCLEO_IHM03A1_for
Diff: iodefinition.hpp
- Revision:
- 37:0a225902cf48
- Parent:
- 34:eb04f4f41dfd
--- a/iodefinition.hpp Wed Apr 22 07:50:37 2020 +0000 +++ b/iodefinition.hpp Wed Apr 22 08:50:26 2020 +0000 @@ -1,57 +1,122 @@ Watchdog wd; - -#if defined(speedMaster) - InterruptIn tractorSpeedRead(PB_1); // define interrupt pin for tractor speed calculation MASTER MODE - DigitalOut quinconceOut(PC_9); // sincro per quinconcio out -#else - InterruptIn tractorSpeedRead(PC_5); // define interrupt pin for tractor speed calculation SLAVE MODE - InterruptIn quinconceIn(PA_9); - DigitalIn quinconceOut(PC_9,PullUp); // sincro per quinconcio out +#if defined(runner) + #if defined(speedMaster) + InterruptIn tractorSpeedRead(PB_1); // define interrupt pin for tractor speed calculation MASTER MODE + DigitalOut quinconceOut(PC_9); // sincro per quinconcio out + #else + InterruptIn tractorSpeedRead(PC_5); // define interrupt pin for tractor speed calculation SLAVE MODE + InterruptIn quinconceIn(PA_9); + DigitalIn quinconceOut(PC_9,PullUp); // sincro per quinconcio out + #endif + + InterruptIn DcEncoder(PB_2); // define input for reading speed of seed wheel with fixed 25 hole + InterruptIn seedCheck(PC_6); // define input for reading seed passage to picks + InterruptIn pwmCheck(PB_13); + + DigitalOut speedClock(PC_8); // define out for speed clock repeater + DigitalIn TBzeroPinInputRev(PB_11); // define input of reading zero position of distributor wheel + DigitalIn seedWheelZeroPinInputRev(PB_12); // define input of reading zero position of seeding wheel + DigitalIn seedLevel(PB_0); // define input for reading seed level on tank + DigitalIn buttonUser(PC_13); // pulsante su scheda + + + PwmOut SDmotorPWM(PB_13); // define frequency command for seeding whell motor driver + DigitalOut SDmotorInB(PB_14); // sd motor half bridge direction selector + DigitalOut SDmotorInA(PB_15); // SD motor half bridge direction selector + DigitalIn enDiag_A(PB_5); // SD motor fault condition input A + DigitalIn enDiag_B(PB_4); // SD motor fault condition input A + AnalogIn SDcurrent(PA_4); // SD power current feedback + + //DigitalOut TBmotor_CS(PB_6); // PowerStep01 SPI ChipSelect + //DigitalOut TBmotor_CK(PA_5); // PowerStep01 SPI Clock + //DigitalOut TBmotor_SDI(PA_7); // PowerStep01 Serial Data Input MOSI sulla cpu + //DigitalOut TBmotor_SDO(PA_6); // PowerStep01 Serial Data Output MISO sulla cpu + //DigitalIn TBmotor_Busy(PC_7); // PowerStep01 Driver busy + //DigitalIn TBmotor_Flag(PA_8); // PowerStep01 Driver Flag + DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input + DigitalOut TBmotor_SW(PB_10); // PowerStep01 Switch + DigitalOut TBmotorRst(PC_4); // PowerStep01 Driver reset + int TBmotorDirecti; + //DigitalOut passo(PB_3); + //DigitalOut led(LED1); + //DigitalOut cs1(PB_6); + + + + #if defined(canbusActive) + CAN can1(PA_11,PA_12,100000); // CAN BUS channel for communication with other slave and master consolle + int checkState=0; + #endif + //CANMessage txMsg; + CANMessage rxMsg; + + #if defined(pcSerial) + Serial pc(USBTX, USBRX,230400); // serial channel for PC communication + #endif #endif -InterruptIn DcEncoder(PB_2); // define input for reading speed of seed wheel with fixed 25 hole -InterruptIn seedCheck(PC_6); // define input for reading seed passage to picks -InterruptIn pwmCheck(PB_13); - -DigitalOut speedClock(PC_8); // define out for speed clock repeater -DigitalIn TBzeroPinInputRev(PB_11); // define input of reading zero position of distributor wheel -DigitalIn seedWheelZeroPinInputRev(PB_12); // define input of reading zero position of seeding wheel -DigitalIn seedLevel(PB_0); // define input for reading seed level on tank -DigitalIn buttonUser(PC_13); // pulsante su scheda - - -PwmOut SDmotorPWM(PB_13); // define frequency command for seeding whell motor driver -DigitalOut SDmotorInB(PB_14); // sd motor half bridge direction selector -DigitalOut SDmotorInA(PB_15); // SD motor half bridge direction selector -DigitalIn enDiag_A(PB_5); // SD motor fault condition input A -DigitalIn enDiag_B(PB_4); // SD motor fault condition input A -AnalogIn SDcurrent(PA_4); // SD power current feedback +#if defined(oldStepperDriver) -//DigitalOut TBmotor_CS(PB_6); // PowerStep01 SPI ChipSelect -//DigitalOut TBmotor_CK(PA_5); // PowerStep01 SPI Clock -//DigitalOut TBmotor_SDI(PA_7); // PowerStep01 Serial Data Input MOSI sulla cpu -//DigitalOut TBmotor_SDO(PA_6); // PowerStep01 Serial Data Output MISO sulla cpu -//DigitalIn TBmotor_Busy(PC_7); // PowerStep01 Driver busy -//DigitalIn TBmotor_Flag(PA_8); // PowerStep01 Driver Flag -DigitalOut TBmotorStepOut(PB_3); // PowerStep01 Step Input -DigitalOut TBmotor_SW(PB_10); // PowerStep01 Switch -DigitalOut TBmotorRst(PC_4); // PowerStep01 Driver reset -int TBmotorDirecti; -//DigitalOut passo(PB_3); -//DigitalOut led(LED1); -//DigitalOut cs1(PB_6); + #if defined(speedMaster) + InterruptIn tractorSpeedRead(PB_1); // define interrupt pin for tractor speed calculation MASTER MODE + DigitalOut quinconceOut(PA_5); // sincro per quinconcio out + DigitalOut speedClock(PA_6); // define out for speed clock repeater + InterruptIn DcEncoder(PB_2); // define input for reading speed of seed wheel with fixed 25 hole + #else + InterruptIn tractorSpeedRead(PB_6); // define interrupt pin for tractor speed calculation SLAVE MODE + InterruptIn quinconceIn(PA_9); + DigitalIn quinconceOut(PA_5,PullUp); // sincro per quinconcio out + InterruptIn DcEncoder(PB_2); // define input for reading speed of seed wheel with fixed 25 hole + DigitalOut speedClock(PA_6); // define out for speed clock repeater + DigitalIn seedLevel(PB_1); // define input for reading seed level on tank + #endif + + DigitalIn TBzeroPinInputRev(PB_11); // define input of reading zero position of distributor wheel + DigitalIn seedWheelZeroPinInputRev(PB_12); // define input of reading zero position of seeding wheel + InterruptIn seedCheck(PA_7); // define input for reading seed passage to picks + DigitalIn buttonUser(PC_13); // pulsante su scheda + + + InterruptIn pwmCheck(PB_13); + PwmOut SDmotorPWM(PB_13); // define frequency command for seeding whell motor driver + DigitalOut SDmotorInB(PB_14); // sd motor half bridge direction selector + DigitalOut SDmotorInA(PB_15); // SD motor half bridge direction selector + DigitalIn enDiag_A(PB_5); // SD motor fault condition input A + DigitalIn enDiag_B(PB_4); // SD motor fault condition input A + AnalogIn SDcurrent(PA_4); // SD power current feedback + + DigitalOut TBmotor_M1(PC_8); // TB motor step division M1 + DigitalOut TBmotor_M2(PC_6); // TB motor step division M2 + DigitalOut TBmotor_M3(PC_5); // TB motor step division M3 + DigitalOut TBmotorRst(PC_4); // TB motor driver reset + DigitalOut TBmotorStepOut(PB_3); // TB motor step command + DigitalOut TBmotorDirecti(PA_10); // TB motor direction command + + /* + #if defined(speedMaster) + //DigitalOut led(LED1); // ATTENZIONE: LED1 E' SU PA5 / D13 + #else + DigitalOut led(PC_7); // ATTENZIONE: LED1 E' SU PA5 / D13 + #endif + */ + + //DigitalIn zeroRequestIn(PB_6); // define input of zero request for slave module + //DigitalIn runRequestIn(PB_9); // define input of run request for slave module + + #if defined(canbusActive) + CAN can1(PA_11,PA_12,100000); // CAN BUS channel for communication with other slave and master consolle + int checkState=0; + #endif + CANMessage txMsg; + CANMessage rxMsg; + + #if defined(pcSerial) + Serial pc(USBTX, USBRX,250000); // serial channel for PC communication + #else + #if defined(speedTime) + Serial pc(USBTX, USBRX,250000); // serial channel for PC communication + #endif + #endif - - -#if defined(canbusActive) - CAN can1(PA_11,PA_12,100000); // CAN BUS channel for communication with other slave and master consolle - int checkState=0; -#endif -//CANMessage txMsg; -CANMessage rxMsg; - -#if defined(pcSerial) - Serial pc(USBTX, USBRX,230400); // serial channel for PC communication -#endif - +#endif \ No newline at end of file