Ahmed HADDAD
lcd lib
Dependencies: mbed LCD_DISCO_F469NI TS_DISCO_F469NI BSP_DISCO_F469NI EasyCAT_lib
Diff: main.cpp
- Revision:
- 2:4a0d3be00487
- Parent:
- 1:8574e7a8fcde
- Child:
- 4:186727e0bdea
--- a/main.cpp Fri Jul 12 12:04:18 2019 +0000
+++ b/main.cpp Fri Mar 11 09:18:13 2022 +0000
@@ -1,12 +1,10 @@
//---------------------------------------------------------------
//
-// Demo program for
-// F469_Button and Slider library
-//
//---------------------------------------------------------------
#include "mbed.h"
#include "F469_BUTTON.hpp"
#include "F469_SLIDER.hpp"
+#include "EasyCAT.h" // EasyCAT library to interface the LAN9252
DigitalOut led_green(LED1);
DigitalOut led_orange(LED2);
@@ -16,10 +14,68 @@
TS_DISCO_F469NI ts_;
LCD_DISCO_F469NI lcd_;
+EasyCAT EASYCAT; // EasyCAT istantiation
char char_SliderDisplayValue[4]; // String Value to display for the Slider Control value
uint16_t SliderDisplayValue_; // Variable used to access Slider Control Value in F469SLIDER.cpp
+//---- global variables ---------------------------------------------------------------------------
+int menu = 0;
+
+UWORD ContaUp; // used for sawthoot test generation
+UWORD ContaDown; //
+
+unsigned long Millis = 0;
+unsigned long Millis2 = 0;
+unsigned long PreviousSaw = 0;
+unsigned long PreviousCycle = 0;
+
+int8_t stand = 0; // data to test
+int8_t start = 0; // data to test
+int8_t stepping = 0; // data to test
+int8_t endStep = 0; // data to test
+
+int8_t enable = 0; // data to test
+int8_t enable_Lateral = 0; // data to test
+int8_t quick_Stop = 0; // data to test
+int8_t clear_Fault = 0; // data to test
+
+float Standing_Time = 2.0 ;
+char Standing_Time_S[10];
+float Step_Time = 2.0 ;
+char Step_Time_S[10];
+float Wait_COM_Tr_Time = 0.5 ;
+char Wait_COM_Tr_Time_S[10];
+int COM_Tr_Threshold = 20 ;
+char COM_Tr_Threshold_S[10];
+
+int8_t Ethercat = 0 ;
+char Ethercat_S[10];
+float Running_Time = 0.0 ;
+char Running_Time_S[20];
+int State_Step = 0 ;
+char State_Step_S[10];
+int Status_Driver = 0 ;
+char Status_Driver_S[10];
+int END = 0 ;
+char END_S[10];
+
+//---- declarations for Arduino "millis()" emulation -----------------------
+
+static Ticker uS_Tick;
+static volatile uint32_t MillisVal = 0;
+
+void InitMillis(void);
+void mS_Tick(void);
+
+inline static uint32_t millis (void)
+{
+ return MillisVal;
+};
+
+
+
+//---------------------------------------------------------------------------------------------
int main()
{
led_green = 1; // Switch off all LEDs
@@ -28,120 +84,530 @@
led_blue = 1;
lcd_.Clear(LCD_COLOR_WHITE); // Set LCD Background colour
-
- // Slider sld1(lcd_, ts_, 20, 350, 220, 40, 5, 1, 20,
- // LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 1, "Slider1", Font20); // Define sld1 slider
- // sld1.Render(); // Draw sld1 Slider
-
- // Slider Slider2(lcd_, ts_, 300, 350, 300, 40, 50, 1, 100,
- // LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Slider2", Font20); // Define Slider2 slider
- // Slider2.Render(); // Draw Slider2 Slider
-
- Button btn1(lcd_, ts_, 20, 100, 120, 60,
- LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 1, "BUTTON1", Font20); // Define btn1 button
- btn1.Render(); // Draw btn1 button
- Button btn2(lcd_, ts_, 160, 100, 120, 60,
- LCD_COLOR_DARKBLUE, LCD_COLOR_GREEN, 1, "BUTTON2", Font20); // Define test button
- btn2.Render(); // Draw test button
+ // Set Text colour to Black
+
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(10, 20, (uint8_t *)" Status EtherCAT: ", LEFT_MODE); // Display main header text
+ lcd_.SetFont(&Font24);
+ lcd_.DisplayStringAt(400, 20, (uint8_t *)" Running Time: ", LEFT_MODE); // Display main header text
+ lcd_.SetFont(&Font24);
+ lcd_.DisplayStringAt(10, 60, (uint8_t *)" State Step: ", LEFT_MODE); // Display main header text
+ lcd_.SetFont(&Font24);
+ lcd_.DisplayStringAt(400, 60, (uint8_t *)" Status Driver: ", LEFT_MODE); // Display main header text
+ lcd_.SetFont(&Font24);
+ lcd_.DisplayStringAt(10, 440, (uint8_t *)" END ? : ", LEFT_MODE); // Display main header text
+ lcd_.DrawHLine(20, 90, 760);
+ lcd_.DrawHLine(20, 91, 760);
+
+ lcd_.SetTextColor(LCD_COLOR_RED);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(10, 110, (uint8_t *)" Driver Controle ", LEFT_MODE); // Display main header text
+
+ Button btn1(lcd_, ts_, 20, 160, 160, 70,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, "Enable", Font20); // Define btn1 button
+ btn1.Render(); // Draw btn1 button
+
+ Button btn2(lcd_, ts_, 220, 160, 160, 70,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, "Lateral", Font20); // Define test button
+ btn2.Render(); // Draw btn2 button
+ Button btn3(lcd_, ts_, 420, 160, 160, 70,
+ LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Quick Stop", Font20); // Define btn3 button
+ btn3.Render(); // Draw btn3 button
- // Button show(lcd_, ts_, 300, 100, 120, 60,
- // LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "SHOW", Font20); // Define hide button
- // show.Hide();
+ Button btn4(lcd_, ts_, 620, 160, 160, 70,
+ LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Clear Fault", Font20); // Define btn4 button
+ btn4.Render(); // Draw btn3 button
- // Button hide(lcd_, ts_, 300, 100, 120, 60,
- // LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "HIDE", Font20); // Define hide button
- // hide.Render(); // Draw hide button
+ lcd_.SetTextColor(LCD_COLOR_RED);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(10, 250, (uint8_t *)" Step Control ", LEFT_MODE); // Display main header text
+
+
+ Button button3D1(lcd_, ts_, 20, 300, 160, 70,
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stand", Font20); // Define button3D1 button
+ button3D1.Render();
- // Button button3D(lcd_, ts_, 580, 100, 160, 60,
- // LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "3D BUTTON", Font20); // Define button3D button
- // button3D.Render(); // Draw 3Dbutton button
-
-
+ Button button3D2(lcd_, ts_, 220, 300, 160, 70,
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Start", Font20); // Define button3D2 button
+ button3D2.Render();
+
+ Button button3D3(lcd_, ts_, 420, 300, 160, 70,
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stepping", Font20); // Define button3D3 button
+ button3D3.Render();
+ Button button3D4(lcd_, ts_, 620, 300, 160, 70,
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "EndStep", Font20); // Define button3D3 button
+ button3D4.Render();
+
+ lcd_.SetTextColor(LCD_COLOR_RED);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(280, 440, (uint8_t *)" MOTION PROJECT ", LEFT_MODE); // Display main header text
+
+ Button btn5(lcd_, ts_, 660, 410, 120, 60,
+ LCD_COLOR_ORANGE, LCD_COLOR_GRAY, 1, "Next", Font20); // Define btn4 button
+ btn5.Render();
+
+ // printf ("\nEasyCAT - Generic EtherCAT slave\n"); // print the banner
- lcd_.SetTextColor(LCD_COLOR_BLACK); // Set Text colour to Black
- lcd_.SetFont(&Font20); // Font size 20
- lcd_.DisplayStringAt(5, 5, (uint8_t *)"Button example for DISCO_F469", LEFT_MODE); // Display main header text
+ InitMillis(); // init Arduino "millis()" emulation
- lcd_.SetFont(&Font16); // Font size 16
- lcd_.DisplayStringAt(5, 45, (uint8_t *)"More text", LEFT_MODE); // Display secondary header text
-
+ ContaDown.Word = 0x0000;
+ ContaUp.Word = 0x0000;
while (true) // Main program loop
- {
+ {
led_green = 1; // Switch off all LEDs
led_orange = 1;
led_red = 1;
- led_blue = 1;
-
-
-
+ led_blue = 1;
+
+ if (btn1.Press() ) // Check if btn1 button was touched and run instructions if true
+ {
+ if (enable==0)
+ {
+ enable=1;
+ }
+ else enable=0;
+ lcd_.SetFont(&Font16);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)"Enable pressed - switch on orange LED", LEFT_MODE);
+ led_orange = 0;
+ wait(0.2);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
+
+ }
+ // End btn1 button instructions
+ if (btn2.Press()) // Check if test button was touched and run instructions if true
+ {
+ if (enable_Lateral==0)
+ {
+ enable_Lateral=1;
+ }
+ else enable_Lateral=0;
+ lcd_.SetFont(&Font16);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)"Enable Lateral pressed - switch on red LED", LEFT_MODE);
+ led_red = 0;
+ wait(0.2);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
+
+ } // End test button instructions
-
-
-
-
- if (btn1.Press()) // Check if btn1 button was touched and run instructions if true
+ if (btn3.Press()) // Check if 3Dbutton button was touched and run instructions if true
{
+ if (quick_Stop==0)
+ {
+ quick_Stop=1;
+ }
+ else quick_Stop=0;
lcd_.SetFont(&Font16);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(5, 200, (uint8_t *)"Button1 pressed - switch on orange LED", LEFT_MODE);
- led_orange = 0;
- wait(0.5);
- lcd_.DisplayStringAt(5, 200, (uint8_t *)" ", LEFT_MODE);
- } // End btn1 button instructions
-
- if (btn2.Press()) // Check if test button was touched and run instructions if true
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)"Quick Stop pressed - switch on blue LED", LEFT_MODE);
+ led_blue = 0;
+ wait(0.2);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
+ } // End 3D button instructions
+ if (btn4.Press()) // Check if test button was touched and run instructions if true
{
+ if (clear_Fault==0)
+ {
+ clear_Fault=1;
+ }
+ else clear_Fault=0;
lcd_.SetFont(&Font16);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(5, 200, (uint8_t *)"TEST pressed - switch on red LED", LEFT_MODE);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)"Clear Fault pressed - switch on red LED", LEFT_MODE);
led_red = 0;
- wait(0.5);
- lcd_.DisplayStringAt(5, 200, (uint8_t *)" ", LEFT_MODE);
+ wait(0.2);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
+
+ }
+
+
+ if (button3D1.Press() ) // Check if btn1 button was touched and run instructions if true
+ {
+ if (stand==0)
+ {
+ stand=1;
+ }
+ else stand=0;
+ lcd_.SetFont(&Font16);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)"Stand pressed - switch on orange LED", LEFT_MODE);
+ led_orange = 0;
+ wait(0.2);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
+
+ }
+ // End btn1 button instructions
+
+ if (button3D2.Press()) // Check if test button was touched and run instructions if true
+ {
+ if (start==0)
+ {
+ start=1;
+ }
+ else start=0;
+ lcd_.SetFont(&Font16);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)"Start pressed - switch on red LED", LEFT_MODE);
+ led_red = 0;
+ wait(0.2);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
} // End test button instructions
- /* if (hide.Press()) // Check if hide button was touched and run instructions if true
+ if (button3D3.Press()) // Check if 3Dbutton button was touched and run instructions if true
{
+ if (stepping==0)
+ {
+ stepping=1;
+ }
+ else stepping=0;
lcd_.SetFont(&Font16);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(5, 200, (uint8_t *)"Hide pressed - Hide other buttons", LEFT_MODE);
- led_green = 0;
- btn1.Hide(); // Hide btn1 button
- test.Hide(); // Hide test button
- hide.Hide();
- show.Render();
- wait(0.5);
- lcd_.DisplayStringAt(5, 200, (uint8_t *)" ", LEFT_MODE);
- } // End hide button instructions
-
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)"Stepping pressed - switch on blue LED", LEFT_MODE);
+ led_blue = 0;
+ wait(0.2);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
+ }
- if (show.Press()) // Check if hide button was touched and run instructions if true
- {
+ if (button3D4.Press()) // Check if 3Dbutton button was touched and run instructions if true
+ {
+ if (endStep==0)
+ {
+ endStep=1;
+ }
+ else endStep=0;
lcd_.SetFont(&Font16);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(5, 200, (uint8_t *)"UNHIDE pressed - Restore other buttons", LEFT_MODE);
- led_blue = 0;
- wait(0.5);
- lcd_.DisplayStringAt(5, 200, (uint8_t *)" ", LEFT_MODE);
- show.Hide(); // Hide show button before drawing new button in same place
- hide.Render(); // Draw hide button after hiding button in same position
- btn1.Render(); // Draw btn1 button
- test.Render(); // Draw test button
-
- }
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)"EndStep pressed - switch on blue LED", LEFT_MODE);
+ led_blue = 0;
+ wait(0.2);
+ lcd_.DisplayStringAt(5, 460, (uint8_t *)" ", LEFT_MODE);
+ }
- if (button3D.Press()) // Check if 3Dbutton button was touched and run instructions if true
- {
- lcd_.SetFont(&Font16);
+ if ( btn5.Press() ) // Check if btn1 button was touched and run instructions if true
+ { menu = 1 ;
+ lcd_.Clear(LCD_COLOR_WHITE);
+ led_orange = 0;
+ wait(0.1);
+ led_orange = 1; // Set LCD Background colour
+
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(20, 65, (uint8_t *)"Standing Time", LEFT_MODE); // Display main header text
+ sprintf(Standing_Time_S, "%0.2f", Standing_Time);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 65, (uint8_t *)Standing_Time_S, LEFT_MODE);
+ Button btn11(lcd_, ts_, 400, 40, 160, 70,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define btn1 button
+ btn11.Render();
+ Button btn12(lcd_, ts_, 600, 40, 160, 70,
+ LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define btn1 button
+ btn12.Render();
+
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(20, 165, (uint8_t *)"Step Time", LEFT_MODE); // Display main header text
+ sprintf(Step_Time_S, "%0.2f", Step_Time);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 165, (uint8_t *)Step_Time_S, LEFT_MODE);
+ Button btn13(lcd_, ts_, 400, 140, 160, 70,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define btn1 button
+ btn13.Render();
+ Button btn14(lcd_, ts_, 600, 140, 160, 70,
+ LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define btn1 button
+ btn14.Render();
+
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(20, 265, (uint8_t *)"Wait COM Tr Time", LEFT_MODE); // Display main header text
+ sprintf(Wait_COM_Tr_Time_S, "%0.2f", Wait_COM_Tr_Time);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 265, (uint8_t *)Wait_COM_Tr_Time_S, LEFT_MODE);
+ Button btn15(lcd_, ts_, 400, 240, 160, 70,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define btn1 button
+ btn15.Render();
+ Button btn16(lcd_, ts_, 600, 240, 160, 70,
+ LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define btn1 button
+ btn16.Render();
+
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(20, 365, (uint8_t *)"COM Tr Threshold", LEFT_MODE); // Display main header text
+ sprintf(COM_Tr_Threshold_S, "%d", COM_Tr_Threshold);
+ lcd_.SetFont(&Font24);
lcd_.SetTextColor(LCD_COLOR_BLACK);
- lcd_.DisplayStringAt(5, 200, (uint8_t *)"3D Button pressed - switch on blue LED", LEFT_MODE);
- led_blue = 0;
- wait(0.5);
- lcd_.DisplayStringAt(5, 200, (uint8_t *)" ", LEFT_MODE);
- } // End 3D button instructions
-*/
+ lcd_.DisplayStringAt(320, 365, (uint8_t *)COM_Tr_Threshold_S, LEFT_MODE);
+ lcd_.DisplayStringAt(370, 365, (uint8_t *)"%", LEFT_MODE);
+ Button btn17(lcd_, ts_, 400, 340, 160, 70,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, " + ", Font24); // Define btn1 button
+ btn17.Render();
+ Button btn18(lcd_, ts_, 600, 340, 160, 70,
+ LCD_COLOR_RED , LCD_COLOR_DARKBLUE, 1, " - ", Font24); // Define btn1 button
+ btn18.Render();
+
+ Button btn6(lcd_, ts_, 20, 410, 120, 60,
+ LCD_COLOR_ORANGE, LCD_COLOR_GRAY, 1, "Back", Font20); // Define btn4 button
+ btn6.Render();
+
+ lcd_.SetTextColor(LCD_COLOR_RED);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(280, 440, (uint8_t *)" MOTION PROJECT ", LEFT_MODE); // Display main header text
+
+ while (menu==1)
+ { if (btn11.Press() ) // Check if btn1 button was touched and run instructions if true
+ {
+ Standing_Time = Standing_Time + 0.5 ;
+ sprintf(Standing_Time_S, "%0.2f", Standing_Time);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 65, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 65, (uint8_t *)Standing_Time_S, LEFT_MODE);
+
+ }
+ if (btn12.Press() ) // Check if btn1 button was touched and run instructions if true
+ { if (Standing_Time>0)
+ {
+ Standing_Time = Standing_Time - 0.5 ;
+ sprintf(Standing_Time_S, "%0.2f", Standing_Time);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 65, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 65, (uint8_t *)Standing_Time_S, LEFT_MODE);
+ }
+ }
+ if (btn13.Press() ) // Check if btn1 button was touched and run instructions if true
+ {
+ Step_Time = Step_Time + 0.5 ;
+ sprintf(Step_Time_S, "%0.2f", Step_Time);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 165, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 165, (uint8_t *)Step_Time_S, LEFT_MODE);
+
+ }
+ if (btn14.Press() ) // Check if btn1 button was touched and run instructions if true
+ { if (Step_Time>0)
+ {
+ Step_Time = Step_Time - 0.5 ;
+ sprintf(Step_Time_S, "%0.2f", Step_Time);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 165, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 165, (uint8_t *)Step_Time_S, LEFT_MODE);
+ }
+ }
+ if (btn15.Press() ) // Check if btn1 button was touched and run instructions if true
+ {
+ Wait_COM_Tr_Time = Wait_COM_Tr_Time + 0.5 ;
+ sprintf(Wait_COM_Tr_Time_S, "%0.2f", Wait_COM_Tr_Time);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 265, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 265, (uint8_t *)Wait_COM_Tr_Time_S, LEFT_MODE);
+
+ }
+ if (btn16.Press() ) // Check if btn1 button was touched and run instructions if true
+ { if (Wait_COM_Tr_Time>0)
+ {
+ Wait_COM_Tr_Time = Wait_COM_Tr_Time - 0.5 ;
+ sprintf(Wait_COM_Tr_Time_S, "%0.2f", Wait_COM_Tr_Time);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 265, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 265, (uint8_t *)Wait_COM_Tr_Time_S, LEFT_MODE);
+ }
+ }
+ if (btn17.Press() ) // Check if btn1 button was touched and run instructions if true
+ {
+ COM_Tr_Threshold = COM_Tr_Threshold + 5 ;
+ sprintf(COM_Tr_Threshold_S, "%d", COM_Tr_Threshold);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 365, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 365, (uint8_t *)COM_Tr_Threshold_S, LEFT_MODE);
+
+ }
+ if (btn18.Press() ) // Check if btn1 button was touched and run instructions if true
+ { if (COM_Tr_Threshold>0)
+ {
+ COM_Tr_Threshold = COM_Tr_Threshold - 5 ;
+ sprintf(COM_Tr_Threshold_S, "%d", COM_Tr_Threshold);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 365, (uint8_t *)" ", LEFT_MODE);
+ lcd_.DisplayStringAt(320, 365, (uint8_t *)COM_Tr_Threshold_S, LEFT_MODE);
+ }
+ }
+ if (btn6.Press() ) // Check if btn1 button was touched and run instructions if true
+ {
+ menu=0;
+ led_orange = 0;
+ lcd_.Clear(LCD_COLOR_WHITE); // Set LCD Background colour
+ lcd_.SetTextColor(LCD_COLOR_BLACK); // Set Text colour to Black
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(10, 20, (uint8_t *)" Status EtherCAT: ", LEFT_MODE); // Display main header text
+ lcd_.SetFont(&Font24);
+ lcd_.DisplayStringAt(400, 20, (uint8_t *)" Running Time: ", LEFT_MODE); // Display main header text
+ lcd_.SetFont(&Font24);
+ lcd_.DisplayStringAt(10, 60, (uint8_t *)" State Step: ", LEFT_MODE); // Display main header text
+ lcd_.SetFont(&Font24);
+ lcd_.DisplayStringAt(400, 60, (uint8_t *)" Status Driver: ", LEFT_MODE); // Display main header text
+ lcd_.SetFont(&Font24);
+ lcd_.DisplayStringAt(10, 440, (uint8_t *)" END ? : ", LEFT_MODE); // Display main header text
+ lcd_.DrawHLine(20, 90, 760);
+ lcd_.DrawHLine(20, 91, 760);
+
+ lcd_.SetTextColor(LCD_COLOR_RED);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(10, 110, (uint8_t *)" Driver Controle ", LEFT_MODE); // Display main header text
+
+ Button btn1(lcd_, ts_, 20, 160, 160, 70,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, "Enable", Font20); // Define btn1 button
+ btn1.Render(); // Draw btn1 button
+
+ Button btn2(lcd_, ts_, 220, 160, 160, 70,
+ LCD_COLOR_GREEN , LCD_COLOR_DARKBLUE, 1, "Lateral", Font20); // Define test button
+ btn2.Render(); // Draw btn2 button
+ Button btn3(lcd_, ts_, 420, 160, 160, 70,
+ LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Quick Stop", Font20); // Define btn3 button
+ btn3.Render(); // Draw btn3 button
+
+ Button btn4(lcd_, ts_, 620, 160, 160, 70,
+ LCD_COLOR_BROWN, LCD_COLOR_GRAY, 1, "Clear Fault", Font20); // Define btn4 button
+ btn4.Render(); // Draw btn3 button
+
+ lcd_.SetTextColor(LCD_COLOR_RED);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(10, 250, (uint8_t *)" Step Control ", LEFT_MODE); // Display main header text
+
+
+ Button button3D1(lcd_, ts_, 20, 300, 160, 70,
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stand", Font20); // Define button3D1 button
+ button3D1.Render();
+
+ Button button3D2(lcd_, ts_, 220, 300, 160, 70,
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Start", Font20); // Define button3D2 button
+ button3D2.Render();
+
+ Button button3D3(lcd_, ts_, 420, 300, 160, 70,
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "Stepping", Font20); // Define button3D3 button
+ button3D3.Render();
+ Button button3D4(lcd_, ts_, 620, 300, 160, 70,
+ LCD_COLOR_BLUE, LCD_COLOR_YELLOW, 2, "EndStep", Font20); // Define button3D3 button
+ button3D4.Render();
+
+ lcd_.SetTextColor(LCD_COLOR_RED);
+ lcd_.SetFont(&Font24); // Font size 24
+ lcd_.DisplayStringAt(280, 440, (uint8_t *)" MOTION PROJECT ", LEFT_MODE); // Display main header text
+
+ Button btn5(lcd_, ts_, 660, 410, 120, 60,
+ LCD_COLOR_ORANGE, LCD_COLOR_GRAY, 1, "Next", Font20); // Define btn4 button
+ btn5.Render();
+
+ wait(0.2);
+ }
+ wait(0.02f);
+ }
+ } // End test button instructions // End 3D button instructions
+
wait(0.02f);
+
+ Millis = millis(); //
+ if (Millis - PreviousCycle >= 10) // each 10 mS
+ { //
+ PreviousCycle = Millis; //
+
+ EASYCAT.MainTask(); // execute the EasyCAT task
+
+
+
+ EASYCAT.BufferIn.Cust.Standing_Time_T= Standing_Time;
+
+ EASYCAT.BufferIn.Cust.Step_Time_T= Step_Time;
+
+ EASYCAT.BufferIn.Cust.Wait_COM_Tr_Time_T= Wait_COM_Tr_Time;
+
+ EASYCAT.BufferIn.Cust.COM_Tr_Threshold_T= (COM_Tr_Threshold/100);
+
+
+
+ EASYCAT.BufferIn.Cust.Stand= stand;
+
+ EASYCAT.BufferIn.Cust.Start = start;
+
+ EASYCAT.BufferIn.Cust.Stepping = stepping;
+
+ EASYCAT.BufferIn.Cust.EndStep = endStep;
+
+ EASYCAT.BufferIn.Cust.Enable= enable;
+
+ EASYCAT.BufferIn.Cust.EnableLateral = enable_Lateral;
+
+ EASYCAT.BufferIn.Cust.QuickStop = quick_Stop;
+
+ EASYCAT.BufferIn.Cust.ClearFault = clear_Fault;
+
+ //Ethercat = EASYCAT.BufferOut.Cust.EtherCAT;
+
+ //Running_Time = EASYCAT.BufferOut.Cust.Running_Time_T ;
+
+ //State_Step = EASYCAT.BufferOut.Cust.State_Step_T ;
+
+ //Status_Driver = EASYCAT.BufferOut.Cust.Status_Driver_T ;
+
+ //END = EASYCAT.BufferOut.Cust.END_T ;
+
+
+ }
+ sprintf(Ethercat_S, "%d", Ethercat);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 20, (uint8_t *)Ethercat_S, LEFT_MODE); // Display main header text
+
+
+ sprintf(Running_Time_S, "%0.2f", Running_Time);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(700, 20, (uint8_t *)Running_Time_S, LEFT_MODE); // Display main header text
+
+ sprintf(State_Step_S, "%d", State_Step);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(320, 60, (uint8_t *)State_Step_S, LEFT_MODE); // Display main header text
+
+ sprintf(Status_Driver_S, "%d", Status_Driver);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(700, 60, (uint8_t *)Status_Driver_S, LEFT_MODE); // Display main header text
+
+ sprintf(END_S, "%d", END);
+ lcd_.SetFont(&Font24);
+ lcd_.SetTextColor(LCD_COLOR_BLACK);
+ lcd_.DisplayStringAt(150, 440, (uint8_t *)END_S, LEFT_MODE); // Display main header text
} // End Main program loop
} // End Main program
+
+
+//--- functions for Arduino "millis()" emulation -------------------------------------
+
+
+void InitMillis(void)
+{
+ uS_Tick.attach (&mS_Tick, 0.001);
+}
+
+void mS_Tick(void)
+{
+ MillisVal++;
+}
+void Menu0(void)
+{
+
+ }
\ No newline at end of file