Ahmed HADDAD
lcd lib
Dependencies: mbed LCD_DISCO_F469NI TS_DISCO_F469NI BSP_DISCO_F469NI EasyCAT_lib
main.cpp
- Committer:
- haddad1995
- Date:
- 2022-03-11
- Revision:
- 2:4a0d3be00487
- Parent:
- 1:8574e7a8fcde
- Child:
- 4:186727e0bdea
File content as of revision 2:4a0d3be00487:
//---------------------------------------------------------------
//
//---------------------------------------------------------------
#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);
DigitalOut led_red(LED3);
DigitalOut led_blue(LED4);
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
led_orange = 1;
led_red = 1;
led_blue = 1;
lcd_.Clear(LCD_COLOR_WHITE); // Set LCD Background colour
// 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 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();
// printf ("\nEasyCAT - Generic EtherCAT slave\n"); // print the banner
InitMillis(); // init Arduino "millis()" emulation
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;
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 (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, 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, 460, (uint8_t *)"Clear Fault pressed - switch on red LED", LEFT_MODE);
led_red = 0;
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 (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, 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 (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, 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 ( 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(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)
{
}