aircord
test2017-1-13
Dependencies: AT24C1024 DMX-STM32 mbed
Diff: main.cpp
- Revision:
- 1:cf2f5992241c
- Parent:
- 0:d94213e24c2e
- Child:
- 2:198becff12f4
--- a/main.cpp Fri Jan 13 03:28:16 2017 +0000
+++ b/main.cpp Tue Feb 14 12:58:24 2017 +0000
@@ -1,59 +1,124 @@
-//#define
-
-
#include "mbed.h"
#include "AT24C1024.h"
#include "AccelStepper.h"
#include "DMX.h"
Timer t;
-DigitalOut dmxEnable(D8);
+DigitalOut dmxEnable(D8); //基本L（レシーブ）に固定します
DMX dmx(PA_9, PA_10);
-AccelStepper stepper1(1, D9, D6); // step, direction
-AccelStepper stepper2(1, D10, D7); // step, direction
+I2C i2c(D4, D5); // SDA, SCL
+AT24C1024 at24c1024(i2c); // Atmel 1Mbit EE-PROM
+AccelStepper stepper1(1, D9, D6); // step, direction
+AccelStepper stepper2(1, D10, D7); // step, direction
+
+//モーター１ CN0とCN1を使用
DigitalOut stepper1Enable(D2);
DigitalOut stepper1MS1(D11);
DigitalOut stepper1MS2(D12);
DigitalIn stepper1MS3(A4);
+//モーター２ CN2とCN3を使用
DigitalOut stepper2Enable(D3);
DigitalOut stepper2MS1(A5);
DigitalOut stepper2MS2(A6);
DigitalOut stepper2MS3(A7);
-DigitalIn EndSW4(A3); //CN7
-DigitalIn EndSW3(A2); //CN6
-DigitalIn EndSW2(A1); //CN5
-DigitalIn EndSW1(A0); //CN4
-DigitalOut myLED(LED3); //動作確認用LED
+DigitalIn EndSW1(A0); //CN4 //３端子エンドスイッチ１ 予備
+DigitalIn EndSW2(A1); //CN5 //３端子エンドスイッチ２ 予備
+DigitalIn EndSW3(A2); //CN6 //２端子エンドスイッチ１ モーター１用にする
+DigitalIn EndSW4(A3); //CN7 //２端子エンドスイッチ２ モーター２用にする
+
+DigitalOut myLED(LED3); //動作確認用LED
+
+unsigned long position1, position2; //モーター１の設定位置
+unsigned long max1, max2;
+unsigned long speed1, speed2;
+unsigned long Acceleration1, Acceleration2;
+unsigned long param1, param2;
+unsigned long dmxInHighBit, dmxInLowBit;
+
+bool manipulateMode1 = true; //0:手動 1:自動
+bool manipulateMode2 = true; //0:手動 1:自動
+
+
+//モーター１のパラメーター DMXチャンネルリスト チャンネル数：１２個
+#define CH_Origin 0
-long dt;
-unsigned int dmxInHighBit;
-unsigned int dmxInLowBit;
-int pastPosition;
+#define DMX_Position1_H CH_Origin //モーター１制御用のDMX信号の始まりの値
+#define DMX_Position1_L CH_Origin + 1
+#define DMX_Speed1_H CH_Origin + 2
+#define DMX_Speed1_L CH_Origin + 3
+#define DMX_Acceleration1_H CH_Origin + 4
+#define DMX_Acceleration1_L CH_Origin + 5
+#define DMX_Max1_H CH_Origin + 6
+#define DMX_Max1_L CH_Origin + 7
+#define DMX_Offset1_H CH_Origin + 8
+#define DMX_Offset1_L CH_Origin + 9
+#define DMX_SaveValue1_H CH_Origin + 10
+#define DMX_SaveValue1_L CH_Origin + 11
+#define DMX_ParmSetMode1_H CH_Origin + 12
+#define DMX_ParmSetMode1_L CH_Origin + 13
-//map関数です
+//モーター２のパラメーター DMXチャンネルリスト チャンネル数：１２個
+#define DMX_Position2_H CH_Origin + 16
+#define DMX_Position2_L CH_Origin + 17
+#define DMX_Speed2_H CH_Origin + 18
+#define DMX_Speed2_L CH_Origin + 19
+#define DMX_Acceleration2_H CH_Origin + 20
+#define DMX_Acceleration2_L CH_Origin + 21
+#define DMX_Max2_H CH_Origin + 22
+#define DMX_Max2_L CH_Origin + 23
+#define DMX_Offset2_H CH_Origin + 24
+#define DMX_Offset2_L CH_Origin + 25
+#define DMX_SaveValue2_H CH_Origin + 26
+#define DMX_SaveValue2_L CH_Origin + 27
+#define DMX_ParmSetMode2_H CH_Origin + 28
+#define DMX_ParmSetMode2_L CH_Origin + 29
+
+//map
long map(long x, long in_min, long in_max, long out_min, long out_max)
{
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
+void blink()
+{
+ for(int i=0; i<5; i++) {
+ myLED=0;
+ wait_ms(60);
+ myLED=1;
+ wait_ms(60);
+ }
+}
+
void checkSW()
{
- if(EndSW4.read() == 0) myLED = 1;
+ //モーター１用エンドスイッチのチェック
+ if(EndSW3.read() == 0) myLED = 1;
else {
stepper1.stop();
stepper1.setCurrentPosition(0);
myLED =0;
}
+
+ //モーター２用エンドスイッチのチェック
+ if(EndSW4.read() == 0) myLED = 1;
+ else {
+ stepper2.stop();
+ stepper2.setCurrentPosition(0);
+ myLED =0;
+ }
}
void silence()
{
DigitalIn stepper1MS1(D11);
DigitalIn stepper1MS2(D12);
+
+ DigitalIn stepper2MS1(A5);
+ DigitalIn stepper2MS2(A6);
}
void run()
@@ -62,6 +127,11 @@
DigitalOut stepper1MS2(D12);
stepper1MS1 = 1;
stepper1MS2 = 1;
+
+ DigitalOut stepper2MS1(A5);
+ DigitalOut stepper2MS2(A6);
+ stepper2MS1 = 1;
+ stepper2MS2 = 1;
}
void init()
@@ -78,26 +148,194 @@
while(stepper1.distanceToGo() != 0) {
stepper1.run();
}
- silence();
+
+ stepper2.setMaxSpeed(2000);
+ stepper2.setAcceleration(20000);
+ stepper2.moveTo(-16000);
+
+ while(stepper2.currentPosition() != 0) {
+ stepper2.run();
+ checkSW();
+ }
+ stepper2.moveTo(500);
+ while(stepper2.distanceToGo() != 0) {
+ stepper2.run();
+ }
+ //silence();
+}
+
+void checkSafeBreak()
+{
+ if(EndSW3.read() == 0) myLED = 1;
+ else {
+ stepper1.stop();
+ while(1) {
+ blink();
+ }
+ }
+
+ //モーター２用エンドスイッチのチェック
+ if(EndSW4.read() == 0) myLED = 1;
+ else {
+ stepper2.stop();
+ while(1) {
+ blink();
+ }
+ }
+}
+
+//モーター１のパラメータ保存
+void paramStore1()
+{
+ //速度
+ uint8_t dt = dmx.get(2);
+ at24c1024.write(2, dt);
+ dt = dmx.get(3);
+ at24c1024.write(3, dt);
+ at24c1024.write(2, 0xf5);
+ wait_ms(2);
+
+ //加速度
+ dt = dmx.get(DMX_Acceleration1_H);
+ at24c1024.write(DMX_Acceleration1_H, dt);
+ dt = dmx.get(DMX_Acceleration1_L);
+ at24c1024.write(DMX_Acceleration1_L, dt);
+
+ //最大値
+ dt = dmx.get(DMX_Max1_H);
+ at24c1024.write(DMX_Max1_H, dt);
+ dt = dmx.get(DMX_Max1_L);
+ at24c1024.write(DMX_Max1_L, dt);
+
+ wait_ms(5);
+}
+
+//速度・加速度・最大値・オフセットの値をスライダーから取得
+void captureSliderValue()
+{
+ dmxInHighBit = dmx.get(DMX_Speed1_H);
+ dmxInLowBit = dmx.get(DMX_Speed1_L);
+ dmxInHighBit = dmxInHighBit << 8;
+ speed1 = (long)(dmxInHighBit + dmxInLowBit);
+
+ dmxInHighBit = dmx.get(DMX_Speed2_H);
+ dmxInLowBit = dmx.get(DMX_Speed2_L);
+ dmxInHighBit = dmxInHighBit << 8;
+ speed2 = (long)(dmxInHighBit + dmxInLowBit);
+
+ dmxInHighBit = dmx.get(DMX_Acceleration1_H);
+ dmxInLowBit = dmx.get(DMX_Acceleration1_L);
+ dmxInHighBit = dmxInHighBit << 8;
+ Acceleration1 = (long)(dmxInHighBit + dmxInLowBit);
+
+ dmxInHighBit = dmx.get(DMX_Acceleration2_H);
+ dmxInLowBit = dmx.get(DMX_Acceleration2_L);
+ dmxInHighBit = dmxInHighBit << 8;
+ Acceleration2 = (long)(dmxInHighBit + dmxInLowBit);
+
+ dmxInHighBit = dmx.get(DMX_Max1_H);
+ dmxInLowBit = dmx.get(DMX_Max1_L);
+ dmxInHighBit = dmxInHighBit << 8;
+ max1 = (long)(dmxInHighBit + dmxInLowBit);
+
+ dmxInHighBit = dmx.get(DMX_Max2_H);
+ dmxInLowBit = dmx.get(DMX_Max2_L);
+ dmxInHighBit = dmxInHighBit << 8;
+ max2 = (long)(dmxInHighBit + dmxInLowBit);
+}
+//モーター１の 速度・加速度・オフセットの値をEEPROMから取得
+void readROMValue1()
+{
+ //速度
+ unsigned long HighBit = at24c1024.read(DMX_Speed1_H);
+ uint8_t LowBit = at24c1024.read(DMX_Speed1_L);
+ HighBit = HighBit << 8;
+ speed1 = (unsigned long)(HighBit + LowBit);
+
+
+ //加速度
+ HighBit = at24c1024.read(DMX_Acceleration1_H);
+ LowBit = at24c1024.read(DMX_Acceleration1_L);
+ HighBit = HighBit << 8;
+ Acceleration1 = (unsigned long)(HighBit + LowBit);
+
+ //最大値
+ HighBit = at24c1024.read(DMX_Max1_H);
+ LowBit = at24c1024.read(DMX_Max1_L);
+ HighBit = HighBit << 8;
+ max1 = (unsigned long)(HighBit + LowBit);
+}
+
+
+//モーター2の 速度・加速度・オフセットの値をEEPROMから取得
+void readROMValue2()
+{
}
+//操作モード切り替えボタンのチェック
+void checkManipulateButton()
+{
+ dmxInHighBit = dmx.get(DMX_ParmSetMode1_H);
+ dmxInLowBit = dmx.get(DMX_ParmSetMode1_L);
+ if(dmxInHighBit == 102 && dmxInLowBit == 255) {
+ manipulateMode1 = !manipulateMode1;
+ blink();
+ }
+
+ dmxInHighBit = dmx.get(DMX_ParmSetMode2_H);
+ dmxInLowBit = dmx.get(DMX_ParmSetMode2_L);
+ if(dmxInHighBit == 102 && dmxInLowBit == 255) {
+ manipulateMode2 = !manipulateMode2;
+ blink();
+ }
+}
+
+//書き込みボタンのチェック
+void checkWriteButton()
+{
+ dmxInHighBit = dmx.get(DMX_SaveValue1_H);
+ dmxInLowBit = dmx.get(DMX_SaveValue1_L);
+ dmxInHighBit = dmxInHighBit << 8;
+ param1 = (long)(dmxInHighBit + dmxInLowBit);
+
+ dmxInHighBit = dmx.get(DMX_SaveValue2_H);
+ dmxInLowBit = dmx.get(DMX_SaveValue2_L);
+ dmxInHighBit = dmxInHighBit << 8;
+ param2 = (long)(dmxInHighBit + dmxInLowBit);
+
+ if(param1 == 24932) {
+ paramStore1();
+ blink();
+ } else;
+
+ if(param2 == 24932) {
+ //paramStore2();
+ //blink();
+ } else;
+}
+
+
int main()
{
-
+ //モーター１と２のコンフィギュレーション
stepper1MS1 = 1;
stepper1MS2 = 1;
- //stepper1MS3 = 0;
stepper1Enable = 0;
+ stepper2MS1 = 1;
+ stepper2MS2 = 1;
+ stepper2Enable = 0;
+
t.start();
dmxEnable = 0; //0:receiver 1:sender
stepper1.setCurrentPosition(-1);
+ stepper2.setCurrentPosition(-1);
init();
@@ -105,100 +343,70 @@
stepper1.setAcceleration(30000);
stepper1.setCurrentPosition(0);
- //run();
+ stepper2.setMaxSpeed(25000);
+ stepper2.setAcceleration(30000);
+ stepper2.setCurrentPosition(0);
+
+ myLED =1;
+
+ at24c1024.write(2, 0xf5);
+ wait_ms(2);
+
while(1) {
-
- dmxInHighBit = dmx.get(0);
- dmxInLowBit = dmx.get(1);
- dmxInHighBit = dmxInHighBit << 8;
- dt = (long)(dmxInHighBit + dmxInLowBit);
- //if(unsigned (stepper1.distanceToGo()) > 0)
-// run();
-// else
-// silence();
- dt = map(dt, 0, 0xFFFF, 0, 32000);
- //dt = dt*100;
+ //操作モード切り替えボタンのチェック
+ checkManipulateButton();
+
+ //書き込みボタンチェック
+ checkWriteButton();
- //printf("%d\n", dt);
- //wait(1);
- stepper1.moveTo(dt);//
-// if(unsigned ((stepper1.distanceToGo() - stepper1.currentPosition())) > 100)
-// run();
- checkSW();
+ //モーター１の目標位置をスライダーから取得
+ dmxInHighBit = dmx.get(DMX_Position1_H);
+ dmxInLowBit = dmx.get(DMX_Position1_L);
+ dmxInHighBit = dmxInHighBit << 8;
+ position1 = (long)(dmxInHighBit + dmxInLowBit);
- stepper1.run();
-
-
-
-// if (stepper1.distanceToGo() == 0)
-// silence();
-// else
-// run();
- }
-}
+ //モーター１の目標位置をスライダーから取得
+ dmxInHighBit = dmx.get(DMX_Position2_H);
+ dmxInLowBit = dmx.get(DMX_Position2_L);
+ dmxInHighBit = dmxInHighBit << 8;
+ position2 = (long)(dmxInHighBit + dmxInLowBit);
-// printf("\r\n*** AT24C1024 Test ***\r\n");
-//
-// // Byte Read/Write
-// //
-// uint8_t dt = 0x55;
-// printf("Byte Write: %02x\r\n", dt);
-// at24c1024.write(0, dt); // write addr=0 data=dt
-// wait_ms(5);
-// dt = at24c1024.read(0); // read addr=0
-// printf("Byte Read: %02x\r\n", dt);
-//
-// // Page Read/Write
-// //
-// uint8_t eep_buf[258];
-// for (int i = 0; i < 256; i++) {
-// eep_buf[i] = i;
-// }
-// printf("Page Write: 0..255\r\n");
-// AT24C_STATUS status = at24c1024.write_page(0x1ff00, eep_buf, sizeof(eep_buf));
-// wait_ms(5);
-// printf("Status: %d\r\n", status);
-// printf("Page Read:\r\n");
-// status = at24c1024.read_page(0x1ff00, eep_buf, sizeof(eep_buf));
-// printf("Status: %d\r\n", status);
-// for (int i = 0; i < sizeof(eep_buf); i++) {
-// printf("%d ", eep_buf[i]);
-// }
-// printf("\r\n");
+ //手動モードの場合、現在のスライダーの値を取得、パラメーターを設定
+ if(manipulateMode1 == true) {
+ captureSliderValue();
+ }
+ //自動モードの場合、EEPROMから値を取得、パラメーターを設定
+ else {
+ readROMValue1();
+ }
-//I2C i2c(D4, D5); // SDA, SCL
-//AT24C1024 at24c1024(i2c); // Atmel 1Mbit EE-PROM
-
-// printf("\r\n*** AT24C1024 Test ***\r\n");
-//
-// // Byte Read/Write
-// //
-// uint8_t dt = 0x22;
-// printf("Byte Write: %02x\r\n", dt);
-// at24c1024.write(0, dt); // write addr=0 data=dt
-// wait_ms(10);
-// dt = at24c1024.read(0); // read addr=0
-// printf("Byte Read: %02x\r\n", dt);
+// //手動モードの場合、現在のスライダーの値を取得、パラメーターを設定
+// if(manipulateMode2 == true) {
+// captureSliderValue();
+// }
//
-// // Page Read/Write
-// //
-// uint8_t eep_buf[258];
-// for (int i = 0; i < 256; i++) {
-// eep_buf[i] = i;
-// }
-// printf("Page Write: 0..255\r\n");
-// AT24C_STATUS status = at24c1024.write_page(0x1ff00, eep_buf, sizeof(eep_buf));
-// wait_ms(5);
-// printf("Status: %d\r\n", status);
-// printf("Page Read:\r\n");
-// status = at24c1024.read_page(0x00, eep_buf, sizeof(eep_buf));
-// printf("Status: %d\r\n", status);
-// for (int i = 0; i < sizeof(eep_buf); i++) {
-// printf("%02x ", eep_buf[i]);
-// }
-// printf("\r\n");
-//}
\ No newline at end of file
+// //自動モードの場合、EEPROMから値を取得、パラメーターを設定
+// else {
+// readROMValue2();
+// }
+
+ position1 = map(position1, 0, 0xFFFF, 0, max1);
+ stepper1.setMaxSpeed(speed1);
+ stepper1.setAcceleration(Acceleration1);
+
+// position2 = map(position2, 0, 0xFFFF, 0, max2);
+// stepper2.setMaxSpeed(speed2);
+// stepper2.setAcceleration(Acceleration2);
+
+ stepper1.moveTo(position1);
+ //stepper2.moveTo(position2);
+
+ checkSafeBreak();
+ stepper1.run();
+ //stepper2.run();
+ }
+}
\ No newline at end of file