Diff: main.cpp

Revision:

27:23bd03a6a6f6

Parent:

26:caec5f51abe8

Child:

30:e464b2bb2376

--- a/main.cpp	Mon Mar 13 17:53:12 2017 +0000
+++ b/main.cpp	Sun Apr 07 18:31:29 2019 +0000
@@ -1,46 +1,41 @@
 /**
  ******************************************************************************
  * @file    main.cpp
- * @author  Davide Aliprandi, STMicroelectronics
+ * @author  Fabian Scherrer
  * @version V1.0.0
- * @date    November 4th, 2015
- * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1
- *          Motor Control Expansion Board: control of 2 motors.
+ * @date    April 7th, 2019
+ * @brief   
  ******************************************************************************
  * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
+ * 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)
  *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
+ *                          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"
@@ -63,11 +58,45 @@
 #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;
+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] = {
@@ -128,307 +157,54 @@
     }
 };
 
-
 /* Main ----------------------------------------------------------------------*/
 
 int main()
 {
     /*----- Initialization. -----*/
-
-    /* Initializing SPI bus. */
-#ifdef TARGET_STM32F429
-    DevSPI dev_spi(D11, D12, D13);
-#else
-    DevSPI dev_spi(D11, D12, D3);
-#endif
+    
+    pwm_io2(20000, 0.075);
 
     /* Initializing Motor Control Expansion Board. */
-    x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
-
-    /* Building a list of motor control components. */
-    L6470 **motors = x_nucleo_ihm02a1->get_components();
-
-    /* Printing to the console. */
-    printf("Motor Control Application Example for 2 Motors\r\n\n");
-
-
-    /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
-
-    /* Printing to the console. */
-    printf("--> Setting home position.\r\n");
-
-    /* Setting the home position. */
-    motors[0]->set_home();
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Getting the current position. */
-    int position = motors[0]->get_position();
-
-    /* Printing to the console. */
-    printf("--> Getting the current position: %d\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Printing to the console. */
-    printf("--> Moving forward %d steps.\r\n", STEPS_1);
-
-    /* Moving. */
-    motors[0]->move(StepperMotor::FWD, STEPS_1);
-
-    /* Waiting while active. */
-    motors[0]->wait_while_active();
-
-    /* Getting the current position. */
-    position = motors[0]->get_position();
-    
-    /* Printing to the console. */
-    printf("--> Getting the current position: %d\r\n", position);
-
-    /* Printing to the console. */
-    printf("--> Marking the current position.\r\n");
-
-    /* Marking the current position. */
-    motors[0]->set_mark();
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Printing to the console. */
-    printf("--> Moving backward %d steps.\r\n", STEPS_2);
-
-    /* Moving. */
-    motors[0]->move(StepperMotor::BWD, STEPS_2);
-
-    /* Waiting while active. */
-    motors[0]->wait_while_active();
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Getting the current position. */
-    position = motors[0]->get_position();
+    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 );
+   
+   
     
-    /* Printing to the console. */
-    printf("--> Getting the current position: %d\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Printing to the console. */
-    printf("--> Going to marked position.\r\n");
-
-    /* Going to marked position. */
-    motors[0]->go_mark();
-    
-    /* Waiting while active. */
-    motors[0]->wait_while_active();
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Getting the current position. */
-    position = motors[0]->get_position();
-    
-    /* Printing to the console. */
-    printf("--> Getting the current position: %d\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Printing to the console. */
-    printf("--> Going to home position.\r\n");
-
-    /* Going to home position. */
-    motors[0]->go_home();
-    
-    /* Waiting while active. */
-    motors[0]->wait_while_active();
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Getting the current position. */
-    position = motors[0]->get_position();
-    
-    /* Printing to the console. */
-    printf("--> Getting the current position: %d\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Printing to the console. */
-    printf("--> Halving the microsteps.\r\n");
-
-    /* Halving the microsteps. */
-    init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel -  1 : init[0].step_sel);
-    if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
-        printf("    Step Mode not allowed.\r\n");
-    }
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Printing to the console. */
-    printf("--> Setting home position.\r\n");
-
-    /* Setting the home position. */
-    motors[0]->set_home();
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Getting the current position. */
-    position = motors[0]->get_position();
-    
-    /* Printing to the console. */
-    printf("--> Getting the current position: %d\r\n", position);
+    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
 
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Printing to the console. */
-    printf("--> Moving forward %d steps.\r\n", STEPS_1);
-
-    /* Moving. */
-    motors[0]->move(StepperMotor::FWD, STEPS_1);
-
-    /* Waiting while active. */
-    motors[0]->wait_while_active();
-
-    /* Getting the current position. */
-    position = motors[0]->get_position();
-    
-    /* Printing to the console. */
-    printf("--> Getting the current position: %d\r\n", position);
-
-    /* Printing to the console. */
-    printf("--> Marking the current position.\r\n");
-
-    /* Marking the current position. */
-    motors[0]->set_mark();
-
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- Running together for a certain amount of time. -----*/
-
-    /* Printing to the console. */
-    printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
-
-    /* Preparing each motor to perform a run at a specified speed. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->prepare_run(StepperMotor::BWD, 400);
-    }
-
-    /* Performing the action on each motor at the same time. */
-    x_nucleo_ihm02a1->perform_prepared_actions();
-
-    /* Waiting. */
-    wait_ms(DELAY_3);
-
-
-    /*----- Increasing the speed while running. -----*/
-
-    /* Preparing each motor to perform a run at a specified speed. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->prepare_get_speed();
-    }
-
-    /* Performing the action on each motor at the same time. */
-    uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
-
-    /* Printing to the console. */
-    printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
-
-    /* Printing to the console. */
-    printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
-
-    /* Preparing each motor to perform a run at a specified speed. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
+ 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;
+               
+            }
     }
-
-    /* Performing the action on each motor at the same time. */
-    results = x_nucleo_ihm02a1->perform_prepared_actions();
-
-    /* Waiting. */
-    wait_ms(DELAY_3);
-
-    /* Preparing each motor to perform a run at a specified speed. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->prepare_get_speed();
-    }
-
-    /* Performing the action on each motor at the same time. */
-    results = x_nucleo_ihm02a1->perform_prepared_actions();
-
-    /* Printing to the console. */
-    printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-
-    /*----- Hard Stop. -----*/
-
-    /* Printing to the console. */
-    printf("--> Hard Stop.\r\n");
-
-    /* Preparing each motor to perform a hard stop. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->prepare_hard_stop();
-    }
-
-    /* Performing the action on each motor at the same time. */
-    x_nucleo_ihm02a1->perform_prepared_actions();
-
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- Doing a full revolution on each motor, one after the other. -----*/
-
-    /* Printing to the console. */
-    printf("--> Doing a full revolution on each motor, one after the other.\r\n");
-
-    /* Doing a full revolution on each motor, one after the other. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        for (int i = 0; i < MPR_1; i++) {
-            /* Computing the number of steps. */
-            int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
-
-            /* Moving. */
-            motors[m]->move(StepperMotor::FWD, steps);
-            
-            /* Waiting while active. */
-            motors[m]->wait_while_active();
-
-            /* Waiting. */
-            wait_ms(DELAY_1);
-        }
-    }
-
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- High Impedance State. -----*/
-
-    /* Printing to the console. */
-    printf("--> High Impedance State.\r\n");
-
-    /* Preparing each motor to set High Impedance State. */
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->prepare_hard_hiz();
-    }
-
-    /* Performing the action on each motor at the same time. */
-    x_nucleo_ihm02a1->perform_prepared_actions();
-
-    /* Waiting. */
-    wait_ms(DELAY_2);
 }