PES_4_Spleisser / Mbed 2 deprecated SpleisserProgramm_V9

Update

Dependencies:   mbed mbed-rtos X_NUCLEO_IHM02A1

main.cpp@40:117b324843ee, 2019-05-14 (annotated)

Committer:
scherfa2
Date:
Tue May 14 20:30:07 2019 +0000
Revision:
40:117b324843ee
Parent:
39:6cc9a40bc8a6
Child:
42:0aaa3b282b6e
Update

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
scherfa2 40:117b324843ee 19 extern int StatusDUO;
scherfa2 40:117b324843ee 20 extern int StatusSOLO;
scherfa2 40:117b324843ee 21
hagenrap 35:758191d5c6e1 22
scherfa2 34:0dee9a606869 23 /*Buttons initialisieren*/
hagenrap 37:a74d377d8f74 24
scherfa2 38:3776ee18e56f 25 //InterruptIn buttonSTART(START_BUTTON);
scherfa2 38:3776ee18e56f 26 DigitalIn Button1(START_BUTTON);
scherfa2 34:0dee9a606869 27 volatile bool buttonSTART_pressed = false; // Used in the main loop
scherfa2 34:0dee9a606869 28 volatile bool buttonSTART_enabled = true; // Used for debouncing
scherfa2 34:0dee9a606869 29 Timeout buttonSTART_timeout; // Used for debouncing
scherfa2 34:0dee9a606869 30
scherfa2 38:3776ee18e56f 31 //InterruptIn buttonAbbruch(ABBRUCH_BUTTON);
scherfa2 38:3776ee18e56f 32 DigitalIn Button2(ABBRUCH_BUTTON);
hagenrap 35:758191d5c6e1 33 volatile bool buttonAbbruch_pressed = false; // Used in the main loop
hagenrap 35:758191d5c6e1 34 volatile bool buttonAbbruch_enabled = true; // Used for debouncing
hagenrap 35:758191d5c6e1 35 Timeout buttonAbbruch_timeout; // Used for debouncing
hagenrap 35:758191d5c6e1 36
hagenrap 35:758191d5c6e1 37
scherfa2 34:0dee9a606869 38 /*PWMs initialisieren*/
hagenrap 35:758191d5c6e1 39 PwmOut Servo (SERVO_PWM);
hagenrap 35:758191d5c6e1 40 PwmOut Cutter_1 (CUTTER_ARC_1);
hagenrap 35:758191d5c6e1 41 PwmOut Cutter_2 (CUTTER_ARC_2);
hagenrap 35:758191d5c6e1 42 PwmOut Spleisser_1 (SPLEISSER_ARC_1);
hagenrap 35:758191d5c6e1 43 PwmOut Spleisser_2 (SPLEISSER_ARC_2);
hagenrap 35:758191d5c6e1 44
hagenrap 35:758191d5c6e1 45 /*Lichtschranken*/
hagenrap 35:758191d5c6e1 46 DigitalIn LS_1(LICHTSCHRANKE_1); // HIGH - kein Filament / LOW - Filament
hagenrap 35:758191d5c6e1 47 DigitalIn LS_2(LICHTSCHRANKE_2); // HIGH - kein Filament / LOW - Filament /* Mit LS_x.read(); auslesen */
hagenrap 35:758191d5c6e1 48 DigitalIn LS_3(LICHTSCHRANKE_3); // HIGH - kein Filament / LOW - Filament
scherfa2 34:0dee9a606869 49
scherfa2 27:23bd03a6a6f6 50 /*Input initalisieren für Status Spleisser*/
hagenrap 33:de144094bdd1 51 DigitalIn InputKontrollmodul(COM_SIGNAL);
scherfa2 40:117b324843ee 52 int val_InputKontrollmodul = 0;
hagenrap 33:de144094bdd1 53
scherfa2 40:117b324843ee 54 DigitalIn CutSignal(CUT_SIGNAL);
scherfa2 34:0dee9a606869 55 /* Motor Control Expansion Board. */
scherfa2 34:0dee9a606869 56 XNucleoIHM02A1 *x_nucleo_ihm02a1_1;
scherfa2 34:0dee9a606869 57 XNucleoIHM02A12 *x_nucleo_ihm02a1_2;
hagenrap 33:de144094bdd1 58
scherfa2 34:0dee9a606869 59 /* Initialization parameters of the motors connected to the expansion board. */
scherfa2 34:0dee9a606869 60 L6470_init_t init[L6470DAISYCHAINSIZE] = {
scherfa2 34:0dee9a606869 61 /* First Motor. */
scherfa2 34:0dee9a606869 62 {
hagenrap 35:758191d5c6e1 63 12.0, /* Motor supply voltage in V. */
scherfa2 34:0dee9a606869 64 400, /* Min number of steps per revolution for the motor. */
scherfa2 34:0dee9a606869 65 1.7, /* Max motor phase voltage in A. */
scherfa2 34:0dee9a606869 66 3.06, /* Max motor phase voltage in V. */
scherfa2 34:0dee9a606869 67 300.0, /* Motor initial speed [step/s]. */
scherfa2 34:0dee9a606869 68 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
scherfa2 34:0dee9a606869 69 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
scherfa2 34:0dee9a606869 70 992.0, /* Motor maximum speed [step/s]. */
scherfa2 34:0dee9a606869 71 0.0, /* Motor minimum speed [step/s]. */
scherfa2 34:0dee9a606869 72 602.7, /* Motor full-step speed threshold [step/s]. */
scherfa2 34:0dee9a606869 73 3.06, /* Holding kval [V]. */
scherfa2 34:0dee9a606869 74 3.06, /* Constant speed kval [V]. */
scherfa2 34:0dee9a606869 75 3.06, /* Acceleration starting kval [V]. */
scherfa2 34:0dee9a606869 76 3.06, /* Deceleration starting kval [V]. */
scherfa2 34:0dee9a606869 77 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
scherfa2 34:0dee9a606869 78 392.1569e-6, /* Start slope [s/step]. */
scherfa2 34:0dee9a606869 79 643.1372e-6, /* Acceleration final slope [s/step]. */
scherfa2 34:0dee9a606869 80 643.1372e-6, /* Deceleration final slope [s/step]. */
scherfa2 34:0dee9a606869 81 0, /* Thermal compensation factor (range [0, 15]). */
scherfa2 34:0dee9a606869 82 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
scherfa2 34:0dee9a606869 83 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
scherfa2 34:0dee9a606869 84 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
scherfa2 34:0dee9a606869 85 0xFF, /* Alarm conditions enable. */
scherfa2 34:0dee9a606869 86 0x2E88 /* Ic configuration. */
scherfa2 34:0dee9a606869 87 },
scherfa2 34:0dee9a606869 88
scherfa2 34:0dee9a606869 89 /* Second Motor. */
scherfa2 34:0dee9a606869 90 {
scherfa2 34:0dee9a606869 91 12.0, /* Motor supply voltage in V. */
scherfa2 34:0dee9a606869 92 400, /* Min number of steps per revolution for the motor. */
scherfa2 34:0dee9a606869 93 1.7, /* Max motor phase voltage in A. */
scherfa2 34:0dee9a606869 94 3.06, /* Max motor phase voltage in V. */
scherfa2 34:0dee9a606869 95 300.0, /* Motor initial speed [step/s]. */
scherfa2 34:0dee9a606869 96 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
scherfa2 34:0dee9a606869 97 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
scherfa2 34:0dee9a606869 98 992.0, /* Motor maximum speed [step/s]. */
scherfa2 34:0dee9a606869 99 0.0, /* Motor minimum speed [step/s]. */
scherfa2 34:0dee9a606869 100 602.7, /* Motor full-step speed threshold [step/s]. */
scherfa2 34:0dee9a606869 101 3.06, /* Holding kval [V]. */
scherfa2 34:0dee9a606869 102 3.06, /* Constant speed kval [V]. */
scherfa2 34:0dee9a606869 103 3.06, /* Acceleration starting kval [V]. */
scherfa2 34:0dee9a606869 104 3.06, /* Deceleration starting kval [V]. */
scherfa2 34:0dee9a606869 105 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
scherfa2 34:0dee9a606869 106 392.1569e-6, /* Start slope [s/step]. */
scherfa2 34:0dee9a606869 107 643.1372e-6, /* Acceleration final slope [s/step]. */
scherfa2 34:0dee9a606869 108 643.1372e-6, /* Deceleration final slope [s/step]. */
scherfa2 34:0dee9a606869 109 0, /* Thermal compensation factor (range [0, 15]). */
scherfa2 34:0dee9a606869 110 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
scherfa2 34:0dee9a606869 111 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
scherfa2 34:0dee9a606869 112 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
scherfa2 34:0dee9a606869 113 0xFF, /* Alarm conditions enable. */
scherfa2 34:0dee9a606869 114 0x2E88 /* Ic configuration. */
scherfa2 34:0dee9a606869 115 }
scherfa2 34:0dee9a606869 116 };
hagenrap 33:de144094bdd1 117
hagenrap 35:758191d5c6e1 118 /* Motor Objekte */
scherfa2 34:0dee9a606869 119 L6470B **motors2;
scherfa2 34:0dee9a606869 120 L6470 **motors;
Davidroid 0:5148e9486cf2 121
hagenrap 35:758191d5c6e1 122 /* --------------------------------- END ------------------------------------ */
hagenrap 35:758191d5c6e1 123 /* -------------------------------------------------------------------------- */
Davidroid 9:f35fbeedb8f4 124
hagenrap 35:758191d5c6e1 125
hagenrap 35:758191d5c6e1 126
hagenrap 35:758191d5c6e1 127
hagenrap 35:758191d5c6e1 128
hagenrap 35:758191d5c6e1 129
hagenrap 39:6cc9a40bc8a6 130 /* ------------------------------- BOOT SCREEN ------------------------------ */
hagenrap 39:6cc9a40bc8a6 131 void Boot_Screen()
Davidroid 0:5148e9486cf2 132 {
hagenrap 35:758191d5c6e1 133
hagenrap 39:6cc9a40bc8a6 134 DisplaySendeBefehl(0x01);
hagenrap 39:6cc9a40bc8a6 135 DisplaySendeBefehl(0x0C);
hagenrap 39:6cc9a40bc8a6 136 gotoxy(1, 1);
hagenrap 39:6cc9a40bc8a6 137 DisplaySendeString("BOOT:");
hagenrap 39:6cc9a40bc8a6 138 gotoxy(1, 3);
hagenrap 39:6cc9a40bc8a6 139 DisplaySendeString("SPLEISSER FIRMWARE");
hagenrap 39:6cc9a40bc8a6 140
hagenrap 39:6cc9a40bc8a6 141 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 142 DisplaySendeString("[ 0% ]");
hagenrap 39:6cc9a40bc8a6 143 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 144 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 145 DisplaySendeString("[- 7% ]");
hagenrap 39:6cc9a40bc8a6 146 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 147 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 148 DisplaySendeString("[-- 14% ]");
hagenrap 39:6cc9a40bc8a6 149 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 150 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 151 DisplaySendeString("[--- 21% ]");
hagenrap 39:6cc9a40bc8a6 152 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 153 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 154 DisplaySendeString("[---- 28% ]");
hagenrap 39:6cc9a40bc8a6 155 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 156 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 157 DisplaySendeString("[----- 35% ]");
hagenrap 39:6cc9a40bc8a6 158 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 159 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 160 DisplaySendeString("[------ 42% ]");
hagenrap 39:6cc9a40bc8a6 161 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 162 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 163 DisplaySendeString("[-------49% ]");
hagenrap 39:6cc9a40bc8a6 164 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 165 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 166 DisplaySendeString("[-------56%- ]");
hagenrap 39:6cc9a40bc8a6 167 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 168 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 169 DisplaySendeString("[-------63%-- ]");
hagenrap 39:6cc9a40bc8a6 170 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 171 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 172 DisplaySendeString("[-------70%--- ]");
hagenrap 39:6cc9a40bc8a6 173 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 174 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 175 DisplaySendeString("[-------77%---- ]");
hagenrap 39:6cc9a40bc8a6 176 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 177 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 178 DisplaySendeString("[-------84%----- ]");
hagenrap 39:6cc9a40bc8a6 179 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 180 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 181 DisplaySendeString("[-------91%------ ]");
hagenrap 39:6cc9a40bc8a6 182 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 183 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 184 DisplaySendeString("[-------98%------- ]");
hagenrap 39:6cc9a40bc8a6 185 Thread::wait((BOOTTIME/14)*1000);
hagenrap 39:6cc9a40bc8a6 186 gotoxy(1, 4);
hagenrap 39:6cc9a40bc8a6 187 DisplaySendeString("[-------100%-------]");
hagenrap 39:6cc9a40bc8a6 188 Thread::wait(500);
hagenrap 39:6cc9a40bc8a6 189 }
hagenrap 39:6cc9a40bc8a6 190 /* --------------------------------- END ------------------------------------ */
hagenrap 35:758191d5c6e1 191
hagenrap 35:758191d5c6e1 192
hagenrap 35:758191d5c6e1 193
hagenrap 35:758191d5c6e1 194
hagenrap 35:758191d5c6e1 195
hagenrap 35:758191d5c6e1 196
hagenrap 39:6cc9a40bc8a6 197
hagenrap 39:6cc9a40bc8a6 198 /* ---------------------------------- MAIN ---------------------------------- */
hagenrap 39:6cc9a40bc8a6 199 /* -------------------------------------------------------------------------- */
hagenrap 39:6cc9a40bc8a6 200
hagenrap 39:6cc9a40bc8a6 201 int main()
hagenrap 39:6cc9a40bc8a6 202 {
hagenrap 39:6cc9a40bc8a6 203
hagenrap 39:6cc9a40bc8a6 204 /* Initializing Motor Control Expansion Board. */
hagenrap 39:6cc9a40bc8a6 205 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 206 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 207
hagenrap 39:6cc9a40bc8a6 208 /* Building a list of motor control components. */
hagenrap 39:6cc9a40bc8a6 209 motors2 = x_nucleo_ihm02a1_2->get_components();
hagenrap 39:6cc9a40bc8a6 210 motors = x_nucleo_ihm02a1_1->get_components();
hagenrap 39:6cc9a40bc8a6 211
hagenrap 39:6cc9a40bc8a6 212 /* Attach ISR to handle button press event
hagenrap 39:6cc9a40bc8a6 213 buttonSTART.fall(callback(buttonSTART_onpressed_cb));
hagenrap 39:6cc9a40bc8a6 214 buttonAbbruch.fall(callback(buttonAbbruch_onpressed_cb));
hagenrap 39:6cc9a40bc8a6 215 */
hagenrap 39:6cc9a40bc8a6 216 /* Init PWM */
hagenrap 39:6cc9a40bc8a6 217 Init_Servo();
hagenrap 39:6cc9a40bc8a6 218 Init_Cutter();
hagenrap 39:6cc9a40bc8a6 219 Init_Spleisser();
hagenrap 39:6cc9a40bc8a6 220
hagenrap 39:6cc9a40bc8a6 221 /*Display*/
hagenrap 39:6cc9a40bc8a6 222 wait_ms(250);
hagenrap 39:6cc9a40bc8a6 223 DisplayInit();
hagenrap 39:6cc9a40bc8a6 224
hagenrap 39:6cc9a40bc8a6 225
hagenrap 39:6cc9a40bc8a6 226
hagenrap 39:6cc9a40bc8a6 227 Boot_Screen();
hagenrap 39:6cc9a40bc8a6 228
hagenrap 39:6cc9a40bc8a6 229
hagenrap 35:758191d5c6e1 230 /* -------------------- ---- STATE_MACHINE ------------------------------ */
hagenrap 39:6cc9a40bc8a6 231 while(1) {
scherfa2 40:117b324843ee 232 val_InputKontrollmodul=InputKontrollmodul;
scherfa2 40:117b324843ee 233 // printf("%i",val_InputKontrollmodul);
scherfa2 40:117b324843ee 234
scherfa2 40:117b324843ee 235 //val_InputKontrollmodul = InputKontrollmodul.read();
hagenrap 39:6cc9a40bc8a6 236 switch (StatusSpleisser) {
hagenrap 39:6cc9a40bc8a6 237 case ST_SOLO:
scherfa2 40:117b324843ee 238 if(InputKontrollmodul == 0)
scherfa2 40:117b324843ee 239 {
hagenrap 39:6cc9a40bc8a6 240 EntrySOLO();
scherfa2 40:117b324843ee 241 }
scherfa2 40:117b324843ee 242 else if(InputKontrollmodul == 1)
scherfa2 40:117b324843ee 243 {
scherfa2 40:117b324843ee 244 StatusDUO =DUO_DEFAULT;
hagenrap 39:6cc9a40bc8a6 245 StatusSpleisser = ST_DUO;
hagenrap 39:6cc9a40bc8a6 246 }
hagenrap 39:6cc9a40bc8a6 247 break;
scherfa2 27:23bd03a6a6f6 248 case ST_DUO:
hagenrap 39:6cc9a40bc8a6 249 if(InputKontrollmodul == 1) {
scherfa2 40:117b324843ee 250
hagenrap 39:6cc9a40bc8a6 251 EntryDUO();
scherfa2 40:117b324843ee 252 }
scherfa2 40:117b324843ee 253 else if (InputKontrollmodul == 0)
scherfa2 40:117b324843ee 254 {
scherfa2 40:117b324843ee 255 StatusSOLO =SOLO_DEFAULT;
hagenrap 39:6cc9a40bc8a6 256 StatusSpleisser = ST_SOLO;
hagenrap 39:6cc9a40bc8a6 257 }
scherfa2 40:117b324843ee 258 break;
hagenrap 39:6cc9a40bc8a6 259 }
scherfa2 40:117b324843ee 260
Davidroid 22:e81ccf73bc5d 261 }
hagenrap 35:758191d5c6e1 262 /* ------------------------------ END ----------------------------------- */
hagenrap 39:6cc9a40bc8a6 263
hagenrap 39:6cc9a40bc8a6 264
hagenrap 39:6cc9a40bc8a6 265
hagenrap 39:6cc9a40bc8a6 266
Davidroid 22:e81ccf73bc5d 267 }
hagenrap 35:758191d5c6e1 268 /* --------------------------------- END ------------------------------------ */
hagenrap 35:758191d5c6e1 269 /* -------------------------------------------------------------------------- */