Update
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
main.cpp
- Committer:
- scherfa2
- Date:
- 2019-05-13
- Revision:
- 38:3776ee18e56f
- Parent:
- 37:a74d377d8f74
- Child:
- 39:6cc9a40bc8a6
File content as of revision 38:3776ee18e56f:
/* ------------------------ INCLUDE ----------------------------------------- */ #include "SETUP.h" /* ---------------------------- END ----------------------------------------- */ /* Zum testen */ DigitalOut myled(LED1); DigitalIn mybutton(USER_BUTTON); /* ----------------------- INITIALISIERUNG ---------------------------------- */ /* -------------------------------------------------------------------------- */ /* Status Spleisser definieren*/ int StatusSpleisser = ST_SOLO; /*Buttons initialisieren*/ //InterruptIn buttonSTART(START_BUTTON); DigitalIn Button1(START_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 //InterruptIn buttonAbbruch(ABBRUCH_BUTTON); DigitalIn Button2(ABBRUCH_BUTTON); volatile bool buttonAbbruch_pressed = false; // Used in the main loop volatile bool buttonAbbruch_enabled = true; // Used for debouncing Timeout buttonAbbruch_timeout; // Used for debouncing /*PWMs initialisieren*/ PwmOut Servo (SERVO_PWM); PwmOut Cutter_1 (CUTTER_ARC_1); PwmOut Cutter_2 (CUTTER_ARC_2); PwmOut Spleisser_1 (SPLEISSER_ARC_1); PwmOut Spleisser_2 (SPLEISSER_ARC_2); /*Lichtschranken*/ DigitalIn LS_1(LICHTSCHRANKE_1); // HIGH - kein Filament / LOW - Filament DigitalIn LS_2(LICHTSCHRANKE_2); // HIGH - kein Filament / LOW - Filament /* Mit LS_x.read(); auslesen */ DigitalIn LS_3(LICHTSCHRANKE_3); // HIGH - kein Filament / LOW - Filament /*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. */ } }; /* Motor Objekte */ L6470B **motors2; L6470 **motors; /* --------------------------------- END ------------------------------------ */ /* -------------------------------------------------------------------------- */ /* ---------------------------------- MAIN ---------------------------------- */ /* -------------------------------------------------------------------------- */ int main() { /* Initializing Motor Control Expansion Board. */ 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 ); 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 ); /* Building a list of motor control components. */ motors2 = x_nucleo_ihm02a1_2->get_components(); motors = x_nucleo_ihm02a1_1->get_components(); /* Attach ISR to handle button press event buttonSTART.fall(callback(buttonSTART_onpressed_cb)); buttonAbbruch.fall(callback(buttonAbbruch_onpressed_cb)); */ /* Init PWM */ Init_Servo(); Init_Cutter(); Init_Spleisser(); /*Display*/ wait_ms(250); DisplayInit(); /* -------------------- ---- STATE_MACHINE ------------------------------ */ 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; } } /* ------------------------------ END ----------------------------------- */ } /* --------------------------------- END ------------------------------------ */ /* -------------------------------------------------------------------------- */