PES_4_Spleisser / Mbed 2 deprecated SpleisserProgramm_V11

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Dependencies:   mbed mbed-rtos X_NUCLEO_IHM02A1

main.cpp@39:6cc9a40bc8a6, 2019-05-14 (annotated)

Committer:
hagenrap
Date:
Tue May 14 08:05:58 2019 +0000
Revision:
39:6cc9a40bc8a6
Parent:
38:3776ee18e56f
Child:
40:117b324843ee
Boot Screen, New Stepper Function, Splicer Function

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hagenrap 35:758191d5c6e1 1 /* ------------------------ INCLUDE ----------------------------------------- */
hagenrap 33:de144094bdd1 2 #include "SETUP.h"
Davidroid 1:9f1974b0960d 3
hagenrap 35:758191d5c6e1 4 /* ---------------------------- END ----------------------------------------- */
hagenrap 35:758191d5c6e1 5
hagenrap 35:758191d5c6e1 6
hagenrap 35:758191d5c6e1 7 /* Zum testen */
hagenrap 35:758191d5c6e1 8 DigitalOut myled(LED1);
hagenrap 35:758191d5c6e1 9 DigitalIn mybutton(USER_BUTTON);
hagenrap 35:758191d5c6e1 10
hagenrap 35:758191d5c6e1 11
hagenrap 35:758191d5c6e1 12
hagenrap 35:758191d5c6e1 13 /* ----------------------- INITIALISIERUNG ---------------------------------- */
hagenrap 35:758191d5c6e1 14 /* -------------------------------------------------------------------------- */
Davidroid 0:5148e9486cf2 15
scherfa2 27:23bd03a6a6f6 16 /* Status Spleisser definieren*/
scherfa2 27:23bd03a6a6f6 17 int StatusSpleisser = ST_SOLO;
scherfa2 27:23bd03a6a6f6 18
hagenrap 35:758191d5c6e1 19
scherfa2 34:0dee9a606869 20 /*Buttons initialisieren*/
hagenrap 37:a74d377d8f74 21
scherfa2 38:3776ee18e56f 22 //InterruptIn buttonSTART(START_BUTTON);
scherfa2 38:3776ee18e56f 23 DigitalIn Button1(START_BUTTON);
scherfa2 34:0dee9a606869 24 volatile bool buttonSTART_pressed = false; // Used in the main loop
scherfa2 34:0dee9a606869 25 volatile bool buttonSTART_enabled = true; // Used for debouncing
scherfa2 34:0dee9a606869 26 Timeout buttonSTART_timeout; // Used for debouncing
scherfa2 34:0dee9a606869 27
scherfa2 38:3776ee18e56f 28 //InterruptIn buttonAbbruch(ABBRUCH_BUTTON);
scherfa2 38:3776ee18e56f 29 DigitalIn Button2(ABBRUCH_BUTTON);
hagenrap 35:758191d5c6e1 30 volatile bool buttonAbbruch_pressed = false; // Used in the main loop
hagenrap 35:758191d5c6e1 31 volatile bool buttonAbbruch_enabled = true; // Used for debouncing
hagenrap 35:758191d5c6e1 32 Timeout buttonAbbruch_timeout; // Used for debouncing
hagenrap 35:758191d5c6e1 33
hagenrap 35:758191d5c6e1 34
scherfa2 34:0dee9a606869 35 /*PWMs initialisieren*/
hagenrap 35:758191d5c6e1 36 PwmOut Servo (SERVO_PWM);
hagenrap 35:758191d5c6e1 37 PwmOut Cutter_1 (CUTTER_ARC_1);
hagenrap 35:758191d5c6e1 38 PwmOut Cutter_2 (CUTTER_ARC_2);
hagenrap 35:758191d5c6e1 39 PwmOut Spleisser_1 (SPLEISSER_ARC_1);
hagenrap 35:758191d5c6e1 40 PwmOut Spleisser_2 (SPLEISSER_ARC_2);
hagenrap 35:758191d5c6e1 41
hagenrap 35:758191d5c6e1 42 /*Lichtschranken*/
hagenrap 35:758191d5c6e1 43 DigitalIn LS_1(LICHTSCHRANKE_1); // HIGH - kein Filament / LOW - Filament
hagenrap 35:758191d5c6e1 44 DigitalIn LS_2(LICHTSCHRANKE_2); // HIGH - kein Filament / LOW - Filament /* Mit LS_x.read(); auslesen */
hagenrap 35:758191d5c6e1 45 DigitalIn LS_3(LICHTSCHRANKE_3); // HIGH - kein Filament / LOW - Filament
scherfa2 34:0dee9a606869 46
scherfa2 27:23bd03a6a6f6 47 /*Input initalisieren für Status Spleisser*/
hagenrap 33:de144094bdd1 48 DigitalIn InputKontrollmodul(COM_SIGNAL);
hagenrap 33:de144094bdd1 49
scherfa2 34:0dee9a606869 50 /* Motor Control Expansion Board. */
scherfa2 34:0dee9a606869 51 XNucleoIHM02A1 *x_nucleo_ihm02a1_1;
scherfa2 34:0dee9a606869 52 XNucleoIHM02A12 *x_nucleo_ihm02a1_2;
hagenrap 33:de144094bdd1 53
scherfa2 34:0dee9a606869 54 /* Initialization parameters of the motors connected to the expansion board. */
scherfa2 34:0dee9a606869 55 L6470_init_t init[L6470DAISYCHAINSIZE] = {
scherfa2 34:0dee9a606869 56 /* First Motor. */
scherfa2 34:0dee9a606869 57 {
hagenrap 35:758191d5c6e1 58 12.0, /* Motor supply voltage in V. */
scherfa2 34:0dee9a606869 59 400, /* Min number of steps per revolution for the motor. */
scherfa2 34:0dee9a606869 60 1.7, /* Max motor phase voltage in A. */
scherfa2 34:0dee9a606869 61 3.06, /* Max motor phase voltage in V. */
scherfa2 34:0dee9a606869 62 300.0, /* Motor initial speed [step/s]. */
scherfa2 34:0dee9a606869 63 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
scherfa2 34:0dee9a606869 64 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
scherfa2 34:0dee9a606869 65 992.0, /* Motor maximum speed [step/s]. */
scherfa2 34:0dee9a606869 66 0.0, /* Motor minimum speed [step/s]. */
scherfa2 34:0dee9a606869 67 602.7, /* Motor full-step speed threshold [step/s]. */
scherfa2 34:0dee9a606869 68 3.06, /* Holding kval [V]. */
scherfa2 34:0dee9a606869 69 3.06, /* Constant speed kval [V]. */
scherfa2 34:0dee9a606869 70 3.06, /* Acceleration starting kval [V]. */
scherfa2 34:0dee9a606869 71 3.06, /* Deceleration starting kval [V]. */
scherfa2 34:0dee9a606869 72 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
scherfa2 34:0dee9a606869 73 392.1569e-6, /* Start slope [s/step]. */
scherfa2 34:0dee9a606869 74 643.1372e-6, /* Acceleration final slope [s/step]. */
scherfa2 34:0dee9a606869 75 643.1372e-6, /* Deceleration final slope [s/step]. */
scherfa2 34:0dee9a606869 76 0, /* Thermal compensation factor (range [0, 15]). */
scherfa2 34:0dee9a606869 77 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
scherfa2 34:0dee9a606869 78 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
scherfa2 34:0dee9a606869 79 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
scherfa2 34:0dee9a606869 80 0xFF, /* Alarm conditions enable. */
scherfa2 34:0dee9a606869 81 0x2E88 /* Ic configuration. */
scherfa2 34:0dee9a606869 82 },
scherfa2 34:0dee9a606869 83
scherfa2 34:0dee9a606869 84 /* Second Motor. */
scherfa2 34:0dee9a606869 85 {
scherfa2 34:0dee9a606869 86 12.0, /* Motor supply voltage in V. */
scherfa2 34:0dee9a606869 87 400, /* Min number of steps per revolution for the motor. */
scherfa2 34:0dee9a606869 88 1.7, /* Max motor phase voltage in A. */
scherfa2 34:0dee9a606869 89 3.06, /* Max motor phase voltage in V. */
scherfa2 34:0dee9a606869 90 300.0, /* Motor initial speed [step/s]. */
scherfa2 34:0dee9a606869 91 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
scherfa2 34:0dee9a606869 92 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
scherfa2 34:0dee9a606869 93 992.0, /* Motor maximum speed [step/s]. */
scherfa2 34:0dee9a606869 94 0.0, /* Motor minimum speed [step/s]. */
scherfa2 34:0dee9a606869 95 602.7, /* Motor full-step speed threshold [step/s]. */
scherfa2 34:0dee9a606869 96 3.06, /* Holding kval [V]. */
scherfa2 34:0dee9a606869 97 3.06, /* Constant speed kval [V]. */
scherfa2 34:0dee9a606869 98 3.06, /* Acceleration starting kval [V]. */
scherfa2 34:0dee9a606869 99 3.06, /* Deceleration starting kval [V]. */
scherfa2 34:0dee9a606869 100 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
scherfa2 34:0dee9a606869 101 392.1569e-6, /* Start slope [s/step]. */
scherfa2 34:0dee9a606869 102 643.1372e-6, /* Acceleration final slope [s/step]. */
scherfa2 34:0dee9a606869 103 643.1372e-6, /* Deceleration final slope [s/step]. */
scherfa2 34:0dee9a606869 104 0, /* Thermal compensation factor (range [0, 15]). */
scherfa2 34:0dee9a606869 105 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
scherfa2 34:0dee9a606869 106 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
scherfa2 34:0dee9a606869 107 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
scherfa2 34:0dee9a606869 108 0xFF, /* Alarm conditions enable. */
scherfa2 34:0dee9a606869 109 0x2E88 /* Ic configuration. */
scherfa2 34:0dee9a606869 110 }
scherfa2 34:0dee9a606869 111 };
hagenrap 33:de144094bdd1 112
hagenrap 35:758191d5c6e1 113 /* Motor Objekte */
scherfa2 34:0dee9a606869 114 L6470B **motors2;
scherfa2 34:0dee9a606869 115 L6470 **motors;
Davidroid 0:5148e9486cf2 116
hagenrap 35:758191d5c6e1 117 /* --------------------------------- END ------------------------------------ */
hagenrap 35:758191d5c6e1 118 /* -------------------------------------------------------------------------- */
Davidroid 9:f35fbeedb8f4 119
hagenrap 35:758191d5c6e1 120
hagenrap 35:758191d5c6e1 121
hagenrap 35:758191d5c6e1 122
hagenrap 35:758191d5c6e1 123
hagenrap 35:758191d5c6e1 124
hagenrap 39:6cc9a40bc8a6 125 /* ------------------------------- BOOT SCREEN ------------------------------ */
hagenrap 39:6cc9a40bc8a6 126 void Boot_Screen()
Davidroid 0:5148e9486cf2 127 {
hagenrap 35:758191d5c6e1 128
hagenrap 39:6cc9a40bc8a6 129 DisplaySendeBefehl(0x01);
hagenrap 39:6cc9a40bc8a6 130 DisplaySendeBefehl(0x0C);
hagenrap 39:6cc9a40bc8a6 131 gotoxy(1, 1);
hagenrap 39:6cc9a40bc8a6 132 DisplaySendeString("BOOT:");
hagenrap 39:6cc9a40bc8a6 133 gotoxy(1, 3);
hagenrap 39:6cc9a40bc8a6 134 DisplaySendeString("SPLEISSER FIRMWARE");
hagenrap 39:6cc9a40bc8a6 135
hagenrap 39:6cc9a40bc8a6 136 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 137 DisplaySendeString("[ 0% ]");
hagenrap 39:6cc9a40bc8a6 138 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 139 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 140 DisplaySendeString("[- 7% ]");
hagenrap 39:6cc9a40bc8a6 141 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 142 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 143 DisplaySendeString("[-- 14% ]");
hagenrap 39:6cc9a40bc8a6 144 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 145 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 146 DisplaySendeString("[--- 21% ]");
hagenrap 39:6cc9a40bc8a6 147 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 148 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 149 DisplaySendeString("[---- 28% ]");
hagenrap 39:6cc9a40bc8a6 150 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 151 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 152 DisplaySendeString("[----- 35% ]");
hagenrap 39:6cc9a40bc8a6 153 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 154 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 155 DisplaySendeString("[------ 42% ]");
hagenrap 39:6cc9a40bc8a6 156 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 157 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 158 DisplaySendeString("[-------49% ]");
hagenrap 39:6cc9a40bc8a6 159 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 160 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 161 DisplaySendeString("[-------56%- ]");
hagenrap 39:6cc9a40bc8a6 162 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 163 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 164 DisplaySendeString("[-------63%-- ]");
hagenrap 39:6cc9a40bc8a6 165 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 166 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 167 DisplaySendeString("[-------70%--- ]");
hagenrap 39:6cc9a40bc8a6 168 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 169 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 170 DisplaySendeString("[-------77%---- ]");
hagenrap 39:6cc9a40bc8a6 171 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 172 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 173 DisplaySendeString("[-------84%----- ]");
hagenrap 39:6cc9a40bc8a6 174 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 175 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 176 DisplaySendeString("[-------91%------ ]");
hagenrap 39:6cc9a40bc8a6 177 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 178 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 179 DisplaySendeString("[-------98%------- ]");
hagenrap 39:6cc9a40bc8a6 180 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 181 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 182 DisplaySendeString("[-------100%-------]");
hagenrap 39:6cc9a40bc8a6 183 Thread::wait(500);
hagenrap 39:6cc9a40bc8a6 184 }
hagenrap 39:6cc9a40bc8a6 185 /* --------------------------------- END ------------------------------------ */
hagenrap 35:758191d5c6e1 186
hagenrap 35:758191d5c6e1 187
hagenrap 35:758191d5c6e1 188
hagenrap 35:758191d5c6e1 189
hagenrap 35:758191d5c6e1 190
hagenrap 35:758191d5c6e1 191
hagenrap 39:6cc9a40bc8a6 192
hagenrap 39:6cc9a40bc8a6 193 /* ---------------------------------- MAIN ---------------------------------- */
hagenrap 39:6cc9a40bc8a6 194 /* -------------------------------------------------------------------------- */
hagenrap 39:6cc9a40bc8a6 195
hagenrap 39:6cc9a40bc8a6 196 int main()
hagenrap 39:6cc9a40bc8a6 197 {
hagenrap 39:6cc9a40bc8a6 198
hagenrap 39:6cc9a40bc8a6 199 /* Initializing Motor Control Expansion Board. */
hagenrap 39:6cc9a40bc8a6 200 x_nucleo_ihm02a1_1 = new XNucleoIHM02A1 (&init[0], &init[1], IRQ_FLAG_MOTOR, IRQ_BUSY_MOTOR, STB_MOTOR, SPI_CS_1, SPI_MOSI, SPI_MISO, SPI_CLK );
hagenrap 39:6cc9a40bc8a6 201 x_nucleo_ihm02a1_2 = new XNucleoIHM02A12(&init[0], &init[1], IRQ_FLAG_MOTOR, IRQ_BUSY_MOTOR, STB_MOTOR, SPI_CS_2, SPI_MOSI, SPI_MISO, SPI_CLK );
hagenrap 39:6cc9a40bc8a6 202
hagenrap 39:6cc9a40bc8a6 203 /* Building a list of motor control components. */
hagenrap 39:6cc9a40bc8a6 204 motors2 = x_nucleo_ihm02a1_2->get_components();
hagenrap 39:6cc9a40bc8a6 205 motors = x_nucleo_ihm02a1_1->get_components();
hagenrap 39:6cc9a40bc8a6 206
hagenrap 39:6cc9a40bc8a6 207 /* Attach ISR to handle button press event
hagenrap 39:6cc9a40bc8a6 208 buttonSTART.fall(callback(buttonSTART_onpressed_cb));
hagenrap 39:6cc9a40bc8a6 209 buttonAbbruch.fall(callback(buttonAbbruch_onpressed_cb));
hagenrap 39:6cc9a40bc8a6 210 */
hagenrap 39:6cc9a40bc8a6 211 /* Init PWM */
hagenrap 39:6cc9a40bc8a6 212 Init_Servo();
hagenrap 39:6cc9a40bc8a6 213 Init_Cutter();
hagenrap 39:6cc9a40bc8a6 214 Init_Spleisser();
hagenrap 39:6cc9a40bc8a6 215
hagenrap 39:6cc9a40bc8a6 216 /*Display*/
hagenrap 39:6cc9a40bc8a6 217 wait_ms(250);
hagenrap 39:6cc9a40bc8a6 218 DisplayInit();
hagenrap 39:6cc9a40bc8a6 219
hagenrap 39:6cc9a40bc8a6 220
hagenrap 39:6cc9a40bc8a6 221
hagenrap 39:6cc9a40bc8a6 222 Boot_Screen();
hagenrap 39:6cc9a40bc8a6 223
hagenrap 39:6cc9a40bc8a6 224
hagenrap 35:758191d5c6e1 225 /* -------------------- ---- STATE_MACHINE ------------------------------ */
hagenrap 39:6cc9a40bc8a6 226 while(1) {
hagenrap 39:6cc9a40bc8a6 227 switch (StatusSpleisser) {
hagenrap 39:6cc9a40bc8a6 228 case ST_SOLO:
hagenrap 39:6cc9a40bc8a6 229 if(InputKontrollmodul == 0) {
hagenrap 39:6cc9a40bc8a6 230 EntrySOLO();
hagenrap 39:6cc9a40bc8a6 231 } else {
hagenrap 39:6cc9a40bc8a6 232 StatusSpleisser = ST_DUO;
hagenrap 39:6cc9a40bc8a6 233 }
hagenrap 39:6cc9a40bc8a6 234 break;
scherfa2 27:23bd03a6a6f6 235 case ST_DUO:
hagenrap 39:6cc9a40bc8a6 236 if(InputKontrollmodul == 1) {
hagenrap 39:6cc9a40bc8a6 237 EntryDUO();
hagenrap 39:6cc9a40bc8a6 238 } else {
hagenrap 39:6cc9a40bc8a6 239 StatusSpleisser = ST_SOLO;
hagenrap 39:6cc9a40bc8a6 240 }
hagenrap 39:6cc9a40bc8a6 241 break;
hagenrap 39:6cc9a40bc8a6 242
hagenrap 39:6cc9a40bc8a6 243 }
Davidroid 22:e81ccf73bc5d 244 }
hagenrap 35:758191d5c6e1 245 /* ------------------------------ END ----------------------------------- */
hagenrap 39:6cc9a40bc8a6 246
hagenrap 39:6cc9a40bc8a6 247
hagenrap 39:6cc9a40bc8a6 248
hagenrap 39:6cc9a40bc8a6 249
Davidroid 22:e81ccf73bc5d 250 }
hagenrap 35:758191d5c6e1 251 /* --------------------------------- END ------------------------------------ */
hagenrap 35:758191d5c6e1 252 /* -------------------------------------------------------------------------- */