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

--- /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
+    }
+}
+
+
+
+

--- /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

--- /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;
+}
+

--- /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

--- 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

--- 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);;
+  
+}  
     
 

--- 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

--- 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:

--- 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

--- 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)
     {