mit Buttons/PWM als einzelne cpp und init in main
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
Revision 34:0dee9a606869, committed 2019-04-24
- Comitter:
- scherfa2
- Date:
- Wed Apr 24 21:08:27 2019 +0000
- Parent:
- 33:de144094bdd1
- Commit message:
- asdf
Changed in this revision
diff -r de144094bdd1 -r 0dee9a606869 Buttons.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Buttons.cpp Wed Apr 24 21:08:27 2019 +0000 @@ -0,0 +1,30 @@ +#include "SETUP.h" + +extern volatile bool buttonSTART_pressed; // Used in the main loop +extern volatile bool buttonSTART_enabled; // Used for debouncing +extern Timeout buttonSTART_timeout; // Used for debouncing + +// Enables button when bouncing is over +void buttonSTART_enabled_cb(void) +{ + buttonSTART_enabled = true; +} +void buttonSTART_diable_cb(void) +{ + buttonSTART_enabled = false; +} + +// ISR handling button pressed event +void buttonSTART_onpressed_cb(void) +{ + if (buttonSTART_enabled) { // Disabled while the button is bouncing + buttonSTART_enabled = false; + buttonSTART_pressed = true; // To be read by the main loop + + buttonSTART_timeout.attach(callback(buttonSTART_enabled_cb), 0.03); // Debounce time 300 ms + } +} + + + +
diff -r de144094bdd1 -r 0dee9a606869 Buttons.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Buttons.h Wed Apr 24 21:08:27 2019 +0000 @@ -0,0 +1,8 @@ +#ifndef MBED_Buttons_H +#define MBED_Buttons_H + +void buttonSTART_enabled_cb(); +void buttonSTART_diable_cb(); +void buttonSTART_onpressed_cb(); + +#endif
diff -r de144094bdd1 -r 0dee9a606869 PWM2.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PWM2.cpp Wed Apr 24 21:08:27 2019 +0000 @@ -0,0 +1,11 @@ +#include "SETUP.h" + + +extern PwmOut Servo; + +void ServoAusschuss(float periode, float duty) +{ + Servo.period(periode); + Servo = duty; +} +
diff -r de144094bdd1 -r 0dee9a606869 PWM2.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PWM2.h Wed Apr 24 21:08:27 2019 +0000 @@ -0,0 +1,7 @@ + +#ifndef MBED_PWM2_H +#define MBED_PWM2_H + +void ServoAusschuss(float periode, float duty); + +#endif
diff -r de144094bdd1 -r 0dee9a606869 SETUP.h --- a/SETUP.h Mon Apr 22 11:56:38 2019 +0000 +++ b/SETUP.h Wed Apr 24 21:08:27 2019 +0000 @@ -38,6 +38,8 @@ #include "DevSPI.h" #include "XNucleoIHM02A1.h" #include "Display.h" +#include "Buttons.h" +#include "PWM2.h" // ----------------------------------------------------------------------------- // GPIO
diff -r de144094bdd1 -r 0dee9a606869 STEPPER_INIT.cpp --- a/STEPPER_INIT.cpp Mon Apr 22 11:56:38 2019 +0000 +++ b/STEPPER_INIT.cpp Wed Apr 24 21:08:27 2019 +0000 @@ -1,80 +1,16 @@ #include "SETUP.h" +#include "STEPPER_INIT.h" /* 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. */ - }, +extern L6470B **motors2; +extern L6470 **motors; - /* 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. */ - } -}; - -void SchrittmotorenInit() +void SpleisserMotorFWD() { - /* Initializing Motor Control Expansion Board. */ - x_nucleo_ihm02a1_2 = new XNucleoIHM02A12(&init[0], &init[1],IRQ_FLAG_MOTOR, IRQ_BUSY_MOTOR, STB_MOTOR, SPI_CS_1, SPI_MOSI, SPI_MISO, SPI_CLK ); - x_nucleo_ihm02a1_1 = new XNucleoIHM02A1(&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. */ - L6470B **motors2 = x_nucleo_ihm02a1_2->get_components(); - L6470 **motors = x_nucleo_ihm02a1_1->get_components(); -} + printf("Warten\r\n"); + motors[1]->run(StepperMotor::FWD,100);; + +}
diff -r de144094bdd1 -r 0dee9a606869 STEPPER_INIT.h --- a/STEPPER_INIT.h Mon Apr 22 11:56:38 2019 +0000 +++ b/STEPPER_INIT.h Wed Apr 24 21:08:27 2019 +0000 @@ -1,6 +1,10 @@ #ifndef STEPPER_INIT_H #define STEPPER_INIT_H -void SchrittmotorenInit(); + + + + +void SpleisserMotorFWD(); #endif
diff -r de144094bdd1 -r 0dee9a606869 ST_DUO.cpp --- a/ST_DUO.cpp Mon Apr 22 11:56:38 2019 +0000 +++ b/ST_DUO.cpp Wed Apr 24 21:08:27 2019 +0000 @@ -2,17 +2,48 @@ int StatusDUO=DUO_DEFAULT; +extern volatile bool buttonSTART_pressed; +extern volatile bool buttonSTART_enabled; +extern PwmOut Servo; + +void EntryDuoStart() +{ + gotoxy(1,1); + DisplaySendeString("Modus: DUO-Betrieb"); + gotoxy(1,3); + DisplaySendeString("Betrieb gestartet"); + + SpleisserMotorFWD(); + + //Test pwm + ServoAusschuss(0.001, 0.5); + + StatusDUO=DUO_START; +} + void EntryDUO() { switch(StatusDUO) { case DUO_DEFAULT: - printf("DUO_MODUS\n\r"); - Thread::wait(1000); + printf("DUO_MODUS\r\n"); + // SpleisserMotorFWD(); + + + if(buttonSTART_pressed==true) + { + buttonSTART_pressed=false; + buttonSTART_diable_cb(); + EntryDuoStart(); + + } + break; case DUO_START: + printf("DUO_START\r\n"); + break; case DUO_FilamentIN:
diff -r de144094bdd1 -r 0dee9a606869 X_NUCLEO_IHM02A1.lib --- a/X_NUCLEO_IHM02A1.lib Mon Apr 22 11:56:38 2019 +0000 +++ b/X_NUCLEO_IHM02A1.lib Wed Apr 24 21:08:27 2019 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/scherfa2/code/X_NUCLEO_IHM02A1/#226ee8900244 +https://os.mbed.com/users/scherfa2/code/X_NUCLEO_IHM02A1/#d7771e6776b0
diff -r de144094bdd1 -r 0dee9a606869 main.cpp --- 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) {