File content as of revision 27:23bd03a6a6f6:

/**
 ******************************************************************************
 * @file    main.cpp
 * @author  Fabian Scherrer
 * @version V1.0.0
 * @date    April 7th, 2019
 * @brief   
 ******************************************************************************
 * @attention
 * 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)
 *
 *                          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"

/* Expansion Board specific header files. */
#include "XNucleoIHM02A1.h"


/* Definitions ---------------------------------------------------------------*/

/* Number of movements per revolution. */
#define MPR_1 4

/* Number of steps. */
#define STEPS_1 (400 * 128)   /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
#define STEPS_2 (STEPS_1 * 2)

/* Delay in milliseconds. */
#define DELAY_1 1000
#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_1;
XNucleoIHM02A12 *x_nucleo_ihm02a1_2;

/* Initialization parameters of the motors connected to the expansion board. */
L6470_init_t init[L6470DAISYCHAINSIZE] = {
    /* First Motor. */
    {
        9.0,                           /* 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. */
    {
        9.0,                           /* 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. */
    }
};

/* Main ----------------------------------------------------------------------*/

int main()
{
    /*----- Initialization. -----*/
    
    pwm_io2(20000, 0.075);

    /* Initializing Motor Control Expansion Board. */
    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 );
   
   
    
    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

 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;
               
            }
    }
}