PES_4_Spleisser
/
SpleisserProgramm_v5
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Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
Diff: main.cpp
- Revision:
- 30:e464b2bb2376
- Parent:
- 27:23bd03a6a6f6
- Child:
- 32:297989ec8abf
- Child:
- 33:de144094bdd1
--- a/main.cpp Wed Apr 10 08:17:06 2019 +0000
+++ b/main.cpp Thu Apr 11 15:20:05 2019 +0000
@@ -12,6 +12,7 @@
*
* Output:
* PA10 (D2) (Select Steppmotor Treiber2)
+ PA9 (InputKontrollModul)
* PA7 (D11) (mosi Steppmotor Treiber1)
* PA6 (D12) (miso Steppmotor Treiber1)
* PA4 (A2) (Select Steppmotor Treiber1)
@@ -26,6 +27,8 @@
* PC1 (A4)(Flag_irq Steppmotor)
* PC0 (A5)(Busy_irq Steppmotor)
+
+
******************************************************************************/
/* Includes ------------------------------------------------------------------*/
@@ -36,6 +39,7 @@
#include "PWM.h"
#include "ST_SOLO.h"
#include "ST_DUO.h"
+#include "SCHRITTMOTOREN_INIT.h"
/* Helper header files. */
#include "DevSPI.h"
@@ -46,17 +50,7 @@
/* 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;
@@ -92,70 +86,7 @@
}
}
-/* 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 ----------------------------------------------------------------------*/
@@ -163,21 +94,9 @@
{
/*----- 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();
+ SchrittmotorenInit();
- printf("--> bis hier gehts3.\r\n");
-
+ pwm_io2(20000, 0.075);
button1.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
while(1)