PES_4_Spleisser
Update
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
Diff: main.cpp
- Revision:
- 34:0dee9a606869
- Parent:
- 33:de144094bdd1
- Child:
- 35:758191d5c6e1
--- a/main.cpp Mon Apr 22 11:56:38 2019 +0000
+++ b/main.cpp Wed Apr 24 21:08:27 2019 +0000
@@ -4,59 +4,108 @@
/* Status Spleisser definieren*/
int StatusSpleisser = ST_SOLO;
+/*Buttons initialisieren*/
+InterruptIn buttonSTART(USER_BUTTON);
+
+volatile bool buttonSTART_pressed = false; // Used in the main loop
+volatile bool buttonSTART_enabled = true; // Used for debouncing
+Timeout buttonSTART_timeout; // Used for debouncing
+
+/*PWMs initialisieren*/
+PwmOut Servo(PB_4);
+
/*Input initalisieren für Status Spleisser*/
DigitalIn InputKontrollmodul(COM_SIGNAL);
+/* Motor Control Expansion Board. */
+XNucleoIHM02A1 *x_nucleo_ihm02a1_1;
+XNucleoIHM02A12 *x_nucleo_ihm02a1_2;
+/* Initialization parameters of the motors connected to the expansion board. */
+L6470_init_t init[L6470DAISYCHAINSIZE] = {
+ /* First Motor. */
+ {
+ 12.0, /* Motor supply voltage in V. */
+ 400, /* Min number of steps per revolution for the motor. */
+ 1.7, /* Max motor phase voltage in A. */
+ 3.06, /* Max motor phase voltage in V. */
+ 300.0, /* Motor initial speed [step/s]. */
+ 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
+ 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
+ 992.0, /* Motor maximum speed [step/s]. */
+ 0.0, /* Motor minimum speed [step/s]. */
+ 602.7, /* Motor full-step speed threshold [step/s]. */
+ 3.06, /* Holding kval [V]. */
+ 3.06, /* Constant speed kval [V]. */
+ 3.06, /* Acceleration starting kval [V]. */
+ 3.06, /* Deceleration starting kval [V]. */
+ 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
+ 392.1569e-6, /* Start slope [s/step]. */
+ 643.1372e-6, /* Acceleration final slope [s/step]. */
+ 643.1372e-6, /* Deceleration final slope [s/step]. */
+ 0, /* Thermal compensation factor (range [0, 15]). */
+ 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
+ 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
+ StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
+ 0xFF, /* Alarm conditions enable. */
+ 0x2E88 /* Ic configuration. */
+ },
+
+ /* Second Motor. */
+ {
+ 12.0, /* Motor supply voltage in V. */
+ 400, /* Min number of steps per revolution for the motor. */
+ 1.7, /* Max motor phase voltage in A. */
+ 3.06, /* Max motor phase voltage in V. */
+ 300.0, /* Motor initial speed [step/s]. */
+ 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
+ 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
+ 992.0, /* Motor maximum speed [step/s]. */
+ 0.0, /* Motor minimum speed [step/s]. */
+ 602.7, /* Motor full-step speed threshold [step/s]. */
+ 3.06, /* Holding kval [V]. */
+ 3.06, /* Constant speed kval [V]. */
+ 3.06, /* Acceleration starting kval [V]. */
+ 3.06, /* Deceleration starting kval [V]. */
+ 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
+ 392.1569e-6, /* Start slope [s/step]. */
+ 643.1372e-6, /* Acceleration final slope [s/step]. */
+ 643.1372e-6, /* Deceleration final slope [s/step]. */
+ 0, /* Thermal compensation factor (range [0, 15]). */
+ 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
+ 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
+ StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
+ 0xFF, /* Alarm conditions enable. */
+ 0x2E88 /* Ic configuration. */
+ }
+};
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
-InterruptIn button1(USER_BUTTON);
-volatile int idx = 0;
-volatile bool button1_pressed = false; // Used in the main loop
-volatile bool button1_enabled = true; // Used for debouncing
-Timeout button1_timeout; // Used for debouncing
-
-// Enables button when bouncing is over
-void button1_enabled_cb(void)
-{
- button1_enabled = true;
-}
-
-// ISR handling button pressed event
-void button1_onpressed_cb(void)
-{
- if (button1_enabled) { // Disabled while the button is bouncing
- button1_enabled = false;
- button1_pressed = true; // To be read by the main loop
-
- if(idx<4){
- idx++;
- }
- else{idx=1;}
-
- button1_timeout.attach(callback(button1_enabled_cb), 0.03); // Debounce time 300 ms
- }
-}
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
-
-
-
+L6470B **motors2;
+L6470 **motors;
/* Main ----------------------------------------------------------------------*/
int main()
{
- /*----- Initialization. -----*/
+/*----- Initialization. -----*/
+/* Initializing Motor Control Expansion Board. */
+x_nucleo_ihm02a1_2 = new XNucleoIHM02A12(&init[0], &init[1],A4, A5, D4, D2, D11, D12, D3 );
+x_nucleo_ihm02a1_1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, D11, D12, D3 );
- SchrittmotorenInit();
- button1.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
+/* Building a list of motor control components. */
+motors2 = x_nucleo_ihm02a1_2->get_components();
+motors = x_nucleo_ihm02a1_1->get_components();
+
+buttonSTART.fall(callback(buttonSTART_onpressed_cb)); // Attach ISR to handle button press event
while(1)
{