Update
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
main.cpp
- Committer:
- scherfa2
- Date:
- 2019-04-24
- Revision:
- 34:0dee9a606869
- Parent:
- 33:de144094bdd1
- Child:
- 35:758191d5c6e1
File content as of revision 34:0dee9a606869:
#include "SETUP.h" /* 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. */ } }; //------------------------------------------------------------------------------ //------------------------------------------------------------------------------ //------------------------------------------------------------------------------ //------------------------------------------------------------------------------ L6470B **motors2; L6470 **motors; /* Main ----------------------------------------------------------------------*/ int main() { /*----- 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 ); /* 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) { 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; } } }