PES_4_Spleisser
Update
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
Diff: main.cpp
- Revision:
- 27:23bd03a6a6f6
- Parent:
- 26:caec5f51abe8
- Child:
- 30:e464b2bb2376
--- a/main.cpp Mon Mar 13 17:53:12 2017 +0000
+++ b/main.cpp Sun Apr 07 18:31:29 2019 +0000
@@ -1,46 +1,41 @@
/**
******************************************************************************
* @file main.cpp
- * @author Davide Aliprandi, STMicroelectronics
+ * @author Fabian Scherrer
* @version V1.0.0
- * @date November 4th, 2015
- * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1
- * Motor Control Expansion Board: control of 2 motors.
+ * @date April 7th, 2019
+ * @brief
******************************************************************************
* @attention
- *
- * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
+ * Verwendete I/O's: Input:
+ * PA9 (InputKontrollmodul Pin von Kontroll-Modul)(CN5-1)
+ *
+ * Output:
+ * PA10 (D2) (Select Steppmotor Treiber2)
+ * PA7 (D11) (mosi Steppmotor Treiber1)
+ * PA6 (D12) (miso Steppmotor Treiber1)
+ * PA4 (A2) (Select Steppmotor Treiber1)
*
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
+ * PB15 (mosi Steppmotor Treiber2)
+ * PB14 (miso Steppmotor Treiber2)
+ * PB13 (slk Steppmotor Treiber2)
+ * PB6 (D10)(pwm_io)(CN5-3)
+ * PB5 (D4)(Standby_reset Steppmotor)
+ * PB4 (D5)(pwm_io2)(CN9-6)
+ * PB3 (D3)(Select Steppmotor Treiber1)
+
+ * PC1 (A4)(Flag_irq Steppmotor)
+ * PC0 (A5)(Busy_irq Steppmotor)
+ ******************************************************************************/
+
/* Includes ------------------------------------------------------------------*/
/* mbed specific header files. */
#include "mbed.h"
+#include "main.h"
+#include "PWM.h"
+#include "ST_SOLO.h"
+#include "ST_DUO.h"
/* Helper header files. */
#include "DevSPI.h"
@@ -63,11 +58,45 @@
#define DELAY_2 2000
#define DELAY_3 5000
+/* Status Spleisser definieren*/
+int StatusSpleisser = ST_SOLO;
+
+/*Input initalisieren für Status Spleisser*/
+DigitalIn InputKontrollmodul(PA_9);
+
+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
+ }
+}
/* Variables -----------------------------------------------------------------*/
/* Motor Control Expansion Board. */
-XNucleoIHM02A1 *x_nucleo_ihm02a1;
+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] = {
@@ -128,307 +157,54 @@
}
};
-
/* Main ----------------------------------------------------------------------*/
int main()
{
/*----- Initialization. -----*/
-
- /* Initializing SPI bus. */
-#ifdef TARGET_STM32F429
- DevSPI dev_spi(D11, D12, D13);
-#else
- DevSPI dev_spi(D11, D12, D3);
-#endif
+
+ pwm_io2(20000, 0.075);
/* Initializing Motor Control Expansion Board. */
- x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
-
- /* Building a list of motor control components. */
- L6470 **motors = x_nucleo_ihm02a1->get_components();
-
- /* Printing to the console. */
- printf("Motor Control Application Example for 2 Motors\r\n\n");
-
-
- /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
-
- /* Printing to the console. */
- printf("--> Setting home position.\r\n");
-
- /* Setting the home position. */
- motors[0]->set_home();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- int position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Moving forward %d steps.\r\n", STEPS_1);
-
- /* Moving. */
- motors[0]->move(StepperMotor::FWD, STEPS_1);
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Printing to the console. */
- printf("--> Marking the current position.\r\n");
-
- /* Marking the current position. */
- motors[0]->set_mark();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Moving backward %d steps.\r\n", STEPS_2);
-
- /* Moving. */
- motors[0]->move(StepperMotor::BWD, STEPS_2);
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
+ x_nucleo_ihm02a1_2 = new XNucleoIHM02A12(&init[0], &init[1],A4, A5, D4, D2, PB_15, PB_14, PB_13 );
+ x_nucleo_ihm02a1_1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, D11, D12, D3 );
+
+
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Going to marked position.\r\n");
-
- /* Going to marked position. */
- motors[0]->go_mark();
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Going to home position.\r\n");
-
- /* Going to home position. */
- motors[0]->go_home();
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Halving the microsteps.\r\n");
-
- /* Halving the microsteps. */
- init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
- if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
- printf(" Step Mode not allowed.\r\n");
- }
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Setting home position.\r\n");
-
- /* Setting the home position. */
- motors[0]->set_home();
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
+ printf("--> bis hier gehts2.\r\n");
+ /* Building a list of motor control components. */
+ L6470B **motors2 = x_nucleo_ihm02a1_2->get_components();
+ L6470 **motors = x_nucleo_ihm02a1_1->get_components();
+
+ printf("--> bis hier gehts3.\r\n");
+
+ button1.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
- /* Waiting. */
- wait_ms(DELAY_1);
-
- /* Printing to the console. */
- printf("--> Moving forward %d steps.\r\n", STEPS_1);
-
- /* Moving. */
- motors[0]->move(StepperMotor::FWD, STEPS_1);
-
- /* Waiting while active. */
- motors[0]->wait_while_active();
-
- /* Getting the current position. */
- position = motors[0]->get_position();
-
- /* Printing to the console. */
- printf("--> Getting the current position: %d\r\n", position);
-
- /* Printing to the console. */
- printf("--> Marking the current position.\r\n");
-
- /* Marking the current position. */
- motors[0]->set_mark();
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- Running together for a certain amount of time. -----*/
-
- /* Printing to the console. */
- printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
-
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_run(StepperMotor::BWD, 400);
- }
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
- wait_ms(DELAY_3);
-
-
- /*----- Increasing the speed while running. -----*/
-
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_get_speed();
- }
-
- /* Performing the action on each motor at the same time. */
- uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Printing to the console. */
- printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
-
- /* Printing to the console. */
- printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
-
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
+ while(1)
+ {
+ switch (StatusSpleisser)
+ {
+ case ST_SOLO:
+ if(InputKontrollmodul ==0)
+ {
+ EntrySOLO();
+ }
+ else
+ {
+ StatusSpleisser = ST_DUO;
+ }
+ break;
+ case ST_DUO:
+ if(InputKontrollmodul ==1)
+ {
+ EntryDUO();
+ }
+ else
+ {
+ StatusSpleisser = ST_SOLO;
+ }
+ break;
+
+ }
}
-
- /* Performing the action on each motor at the same time. */
- results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
- wait_ms(DELAY_3);
-
- /* Preparing each motor to perform a run at a specified speed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_get_speed();
- }
-
- /* Performing the action on each motor at the same time. */
- results = x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Printing to the console. */
- printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
-
- /* Waiting. */
- wait_ms(DELAY_1);
-
-
- /*----- Hard Stop. -----*/
-
- /* Printing to the console. */
- printf("--> Hard Stop.\r\n");
-
- /* Preparing each motor to perform a hard stop. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_hard_stop();
- }
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- Doing a full revolution on each motor, one after the other. -----*/
-
- /* Printing to the console. */
- printf("--> Doing a full revolution on each motor, one after the other.\r\n");
-
- /* Doing a full revolution on each motor, one after the other. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- for (int i = 0; i < MPR_1; i++) {
- /* Computing the number of steps. */
- int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
-
- /* Moving. */
- motors[m]->move(StepperMotor::FWD, steps);
-
- /* Waiting while active. */
- motors[m]->wait_while_active();
-
- /* Waiting. */
- wait_ms(DELAY_1);
- }
- }
-
- /* Waiting. */
- wait_ms(DELAY_2);
-
-
- /*----- High Impedance State. -----*/
-
- /* Printing to the console. */
- printf("--> High Impedance State.\r\n");
-
- /* Preparing each motor to set High Impedance State. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- motors[m]->prepare_hard_hiz();
- }
-
- /* Performing the action on each motor at the same time. */
- x_nucleo_ihm02a1->perform_prepared_actions();
-
- /* Waiting. */
- wait_ms(DELAY_2);
}