Revision 32:1be3d79ff4db, committed 2022-04-08

Comitter:

lex9296

Date:

Fri Apr 08 05:27:20 2022 +0000

Parent:

31:913f664c6189

Commit message:

Actuator is Working, but I might need some Current Loop.

Changed in this revision

--- a/Display/DisplayDriver.cpp	Fri Mar 11 10:25:46 2022 +0000
+++ b/Display/DisplayDriver.cpp	Fri Apr 08 05:27:20 2022 +0000
@@ -542,12 +542,8 @@
 extern  uint16_t    aui16_PlotClears_Lo[240];
 extern  uint16_t    aui16_PlotClears_Hi[240];
 
-void    LCM_PlotVector  (void) {
+void    LCM_PlotVector  (uint16_t ui16_Background, uint16_t ui16_Foreground) {
 uint16_t    ui16_Index000;
-//uint16_t    ui16_ActualSample;
-//uint16_t    ui16_PreviousSample;
-//uint16_t    ui16_Length;
-//int16_t    i16_Length;
 
     // LA:  Scope Bar Plot, Theory of Operation
     //      ===================================
@@ -563,13 +559,13 @@
 
         // LA:  Clear Previous Plot by means of the Hi/Lo Array(s)
         //
-        Tft.drawVerticalLineEx  (ui16_Index000, 300 - aui16_PlotClears_Hi[ui16_Index000], (int16_t) aui16_PlotClears_Hi[ui16_Index000]- aui16_PlotClears_Lo[ui16_Index000], Scale2RGBColor(31, 31, 31));
+        Tft.drawVerticalLineEx  (ui16_Index000, 300 - aui16_PlotClears_Hi[ui16_Index000], (int16_t) aui16_PlotClears_Hi[ui16_Index000]- aui16_PlotClears_Lo[ui16_Index000], ui16_Background);
 
         // LA:  Then PLOT the New
         //
         aui16_PlotClears_Hi[ui16_Index000] = (uint16_t) (af_PlotSamples[ui16_Index000]* 100);
         aui16_PlotClears_Lo[ui16_Index000] =   (uint16_t) (af_PlotSamples[ui16_Index000- 1]* 100);
         //
-        Tft.drawVerticalLineEx  (ui16_Index000, 300 - aui16_PlotClears_Hi[ui16_Index000], (int16_t) aui16_PlotClears_Hi[ui16_Index000]- aui16_PlotClears_Lo[ui16_Index000], Scale2RGBColor(0, 0, 0));
+        Tft.drawVerticalLineEx  (ui16_Index000, 300 - aui16_PlotClears_Hi[ui16_Index000], (int16_t) aui16_PlotClears_Hi[ui16_Index000]- aui16_PlotClears_Lo[ui16_Index000], ui16_Foreground);
     }
 }

--- a/Display/DisplayDriver.h	Fri Mar 11 10:25:46 2022 +0000
+++ b/Display/DisplayDriver.h	Fri Apr 08 05:27:20 2022 +0000
@@ -149,7 +149,7 @@
 void    LCM_SetPixel    (uint16_t ui_X, uint16_t ui_Y, uint16_t ui16_Color);
 void    LCM_DrawLine    (uint16_t ui_X0, uint16_t ui_Y0, uint16_t ui_X1, uint16_t ui_Y1, uint16_t ui16_Color);
 
-void    LCM_PlotVector  (void);
+void    LCM_PlotVector  (uint16_t ui16_Background, uint16_t ui16_Foreground);
 
 #endif //TFT_DISPLAY_DRIVER_H
 

--- a/QEI.lib	Fri Mar 11 10:25:46 2022 +0000
+++ b/QEI.lib	Fri Apr 08 05:27:20 2022 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/QEI/#fe23b32e62ca
+https://os.mbed.com/users/lex9296/code/QEI/#0db131925e56

--- a/SWPos/SWPos.cpp	Fri Mar 11 10:25:46 2022 +0000
+++ b/SWPos/SWPos.cpp	Fri Apr 08 05:27:20 2022 +0000
@@ -960,15 +960,15 @@
         
                     //  LA: if Not Homed, Positioning Flag(s) are Kept Clear
                     //
-                    b_GoingFW =    false;
-                    out.b_InToleranceFW =  false;
-                    b_GoingBW =    false;
-                    out.b_InToleranceBW =  false;
+                    b_GoingFW = false;
+                    out.b_InToleranceFW =   false;
+                    b_GoingBW = false;
+                    out.b_InToleranceBW =   false;
                 
-                    out.b_Accelerating = false;
-                    out.b_MaxSpeedReached =    false;
-                    out.b_Decelerating = false;
-                    out.b_InPosition = false;
+                    out.b_Accelerating =    false;
+                    out.b_MaxSpeedReached = false;
+                    out.b_Decelerating =    false;
+                    out.b_InPosition =  false;
         
                     b_AuxCalculateProfile_000 = false;
                     b_AuxCalculateProfile_001 = false;
@@ -984,15 +984,15 @@
         
             //  LA: if  Not Powered, Motion Flag(s) are Kept Clear
             //
-            b_GoingFW =    false;
-            out.b_InToleranceFW =  false;
-            b_GoingBW =    false;
-            out.b_InToleranceBW =  false;
+            b_GoingFW = false;
+            out.b_InToleranceFW =   false;
+            b_GoingBW = false;
+            out.b_InToleranceBW =   false;
         
-            out.b_Accelerating = false;
+            out.b_Accelerating =    false;
             out.b_MaxSpeedReached =    false;
-            out.b_Decelerating = false;
-            out.b_InPosition = false;
+            out.b_Decelerating =    false;
+            out.b_InPosition =  false;
         
             b_AuxCalculateProfile_000 = false;
             b_AuxCalculateProfile_001 = false;  

--- a/main.cpp	Fri Mar 11 10:25:46 2022 +0000
+++ b/main.cpp	Fri Apr 08 05:27:20 2022 +0000
@@ -1,4 +1,3 @@
-
 
 //Warning: Incompatible redefinition of macro "MBED_RAM_SIZE"  in "tmp/HU5Hqj", Line: 39, Col: 10
 #ifndef MBED_RAM_SIZE
@@ -8,28 +7,28 @@
 #include "QEI.h"
 #include "SWPos.h"
 
-#include "DmTftIli9341.h"
-
 #include "Timers.h"
-//#include "Menu.h"
 #include "Eeprom.h"
-//#include "main.h"
-//#include "app_config.h"
 
 #define MAX_CHAR_PER_LINE   28
 #define TEXT_ROW_SPACING    16
 #define FONT_CHAR_WIDTH 8
 #define FONT_CHAR_HEIGHT    16
 
-//#include "mbed.h"
 #include "DisplayDriver.h"
-//#include "DmTftIli9341.h"
-//#include "DmTouch.h"
-//#include "DmTouchCalibration.h"
 
-int32_t i32_Pulses;
-//
+void    LCM_ShowTactics(
+                        int32_t i32_Pulses,
+                        int32_t i32_ATVSpeed,
+                        float f_ai0000_Aux,
+                        float f_ai0001_Aux,
+                        float f_ai0002_Aux,
+                        float f_ai0003_Aux,
+                        float f_ai0004_Aux,
+                        float f_ai0005_Aux
+                        );
 static void SampleAndStore  (void);
+
 Ticker  SampleTimer;                    // LA:  To Sample 1AI any ms
 float   af_PlotSamples[240];            // LA:  "Horiz" Plot Array
 
@@ -57,6 +56,9 @@
 //DigitalOut  SD_CS   (D8);               // MBED description of pin
 
 DigitalIn   userButton  (USER_BUTTON);
+//
+DigitalOut  rENA_Off    (PC_0);           // CN7.38 -    Power Enable Relay,            Power Disabled when true
+DigitalOut  rDIR_FWD    (PC_1);           // CN7.36 -    Move Direction Relay Bridge,   Move FW(Extends) when true
 
 AnalogIn    adc_temp    (ADC_TEMP);
 AnalogIn    adc_vref    (ADC_VREF);
@@ -74,6 +76,8 @@
 //  ===
 //
 QEI Stabilus322699  (PA_1, PA_0, NC, 100, QEI::X4_ENCODING);
+//DigitalIn   Hall_A  (PA_1);
+//DigitalIn   Hall_B  (PA_0);
 
 //  Motion
 //  ======
@@ -100,25 +104,15 @@
 //  =======
 //
 int main    (void){
-char StringText[MAX_CHAR_PER_LINE + 1];  // don't forget the /0 (end of string)
-//char StringText2[MAX_CHAR_PER_LINE + 1];
-//char StringText3[MAX_CHAR_PER_LINE + 1];
+const float cf_PWMPeriod_s = 0.010;
 
-//uint16_t    ui16_TestColor = 0x0000;
-//uint16_t    ui16_TestStep = 0x0000;
-//
-//uint16_t    ui16_R = 0x00;
-//uint16_t    ui16_G = 0x00;
-//uint16_t    ui16_B = 0x00;
-
-uint32_t ui32_PreCallms;
-uint32_t ui32_PostCallms;
-uint32_t ui32_Samplems;
+    rDIR_FWD =  true;   // LA:  Actuator Extends
+    rENA_Off =  true;   // LA:  Drive Power is Off
 
     EepromInit();       // LA:  Inizializza la EEProm
     TimersInit();       // LA:  Parte il Timer a 1ms
 
-    SampleTimer.attach_us( &SampleAndStore, 1000 );
+    SampleTimer.attach_us(&SampleAndStore, 250);
 
     // LA:  FactoryReset se "userButton" premuto all'avvio
     //
@@ -127,8 +121,8 @@
     }
     DisplayDriverInit();
 
-    PWM_PB3.period_us(100);         // LA:  Avvia il PWM con TimeBase 100us
-    PWM_PB3.pulsewidth_us(0);       //      0.. 100us ->   0.. 100%,    Set to ZERO
+    PWM_PB3.period(cf_PWMPeriod_s);     // LA:  Avvia il PWM con TimeBase x [s]
+    PWM_PB3.write((float) 0.0);         //      Set to 0%
 
     // LA:  Motion (1st) Setup
     //
@@ -137,28 +131,35 @@
     in_PosizionatoreSW.i32_Max_Speed =  1024;       // [ui]
     in_PosizionatoreSW.i32_ZeroSpeed =  0;          //
 
+    //  POS Mode
+    //  ========
+    //
+    in_PosizionatoreSW.b_ServoLock =    true;
+    in_PosizionatoreSW.rtServoLock_Q =  false;
+    //
+    in_PosizionatoreSW.i64_TargetPosition = 3200;                           // [ui]
+    in_PosizionatoreSW.i64_ActualPosition = Stabilus322699.getPulses();     //
+    in_PosizionatoreSW.i64_AccelerationWindow = 64;                         // LA:  Spazio concesso all'accelerazione.
+    in_PosizionatoreSW.i64_DecelerationWindow = 512;                        //      Spazio concesso alla decelerazione, è prioritario rispetto all'accelerazione.
+    in_PosizionatoreSW.i64_diToleranceWindow =  10;                         //      Finestra di Tolleranza
+    //
+    in_PosizionatoreSW.f_MaximumSpeed_x100_FW = 16.0;                       // % of "i32_Max_Speed"
+    in_PosizionatoreSW.f_MaximumSpeed_x100_BW = 60.0;                       //
+    in_PosizionatoreSW.f_ServoLockSpeed_x100_FW =   4.8;                    //      Riferimento di velocità minima a cui (appena) si muove l'asse [verso FW]
+    in_PosizionatoreSW.f_ServoLockSpeed_x100_BW =   18.0;                   //      Riferimento di velocità minima a cui (appena) si muove l'asse [verso BW]
+
+    //  JOG Mode
+    //  ========
+    //
     in_PosizionatoreSW.b_JogMode =  false;
     in_PosizionatoreSW.b_JogFW =    false;
     in_PosizionatoreSW.b_JogBW =    false;
     in_PosizionatoreSW.i32_JogAccel_ms =    500;    // [ms]
     in_PosizionatoreSW.i32_JogDecel_ms =    250;    //
     //
-    in_PosizionatoreSW.f_JogSpeed_x100_FW = 25.0;   // % of "i32_Max_Speed"
-    in_PosizionatoreSW.f_JogSpeed_x100_BW = 25.0;   //
+    in_PosizionatoreSW.f_JogSpeed_x100_FW = (in_PosizionatoreSW.f_MaximumSpeed_x100_FW/ 2);     // LA:  JOG's the Half of Max POS's Speed
+    in_PosizionatoreSW.f_JogSpeed_x100_BW = (in_PosizionatoreSW.f_MaximumSpeed_x100_BW/ 2);     //
 
-    in_PosizionatoreSW.b_ServoLock =    true;
-    in_PosizionatoreSW.rtServoLock_Q =  false;
-    //
-    in_PosizionatoreSW.i64_TargetPosition = 1000;      // [ui]
-    in_PosizionatoreSW.i64_ActualPosition = 200;      //
-    in_PosizionatoreSW.i64_AccelerationWindow = 50;  // LA:  Spazio concesso all'accelerazione.
-    in_PosizionatoreSW.i64_DecelerationWindow = 50;  //      Spazio concesso alla decelerazione, è prioritario rispetto all'accelerazione.
-    in_PosizionatoreSW.i64_diToleranceWindow =  10;  //      Finestra di Tolleranza
-    //
-    in_PosizionatoreSW.f_MaximumSpeed_x100_FW = 25.0;       // % of "i32_Max_Speed"
-    in_PosizionatoreSW.f_MaximumSpeed_x100_BW = 25.0;       //
-    in_PosizionatoreSW.f_ServoLockSpeed_x100_FW =   5.0;    //
-    in_PosizionatoreSW.f_ServoLockSpeed_x100_BW =   5.0;    //
 
     // LA:  Color RGB Component(s)
     //      ======================
@@ -182,126 +183,47 @@
     //  writeReg(GREEN, (Color & 0x07e0) >> 5);
     //  writeReg(BLUE,  (Color & 0x001f));
     //
-    LCM_SetTextColor(Scale2RGBColor  (31, 31, 31), Scale2RGBColor  (0, 0, 0));  // LA:  Black on White
-    LCM_ClearScreen (Scale2RGBColor  (31, 31, 31));
+    LCM_SetTextColor(Scale2RGBColor  (0, 0, 0), Scale2RGBColor  (31, 0, 0));    // LA:  Red on Black
+    LCM_ClearScreen (Scale2RGBColor  (0, 0, 0));                                //      Black Background
+    LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 0), "You Start Me Up ...");       //      Intro Text
 
-//    ui16_TestColor =    Scale2RGBColor  (ui16_R, ui16_G, ui16_B);
-//    LCM_SetTextColor    (
-//                        Scale2RGBColor  (0, 0, 0),
-//                        Scale2RGBColor  (31, 31, 31)
-//                        );
-    LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 0), "You Start Me Up ...");
+//    rDIR_FWD =  false;      // Collapse
+//    rENA_Off =  false;      // Power On
+
+    in_PosizionatoreSW.b_ServoLock =    true;
+    in_PosizionatoreSW.rtServoLock_Q =  true;
 
     while   (1) {
-    static int32_t  Pulses_Prec;
-    static uint32_t ms_0002_prec;
-    static uint32_t ms_0003_prec;
-
-    float   f_ai0000_Aux;
-    //
-    float   f_ai0000_prec;
-    float   f_ai0001_prec;
-    float   f_ai0002_prec;
-    float   f_ai0003_prec;
-    float   f_ai0004_prec;
-
-/*
-        i32_Pulses =    Stabilus322699.getPulses();
-        PWM_PB3.pulsewidth_us(((float)i32_Pulses/ (float)5000.0)* (float)100.0);      //      0.. 100us ->   0.. 100%
-
-        in_PosizionatoreSW.i64_ActualPosition = (int64_t) i32_Pulses;      //
-
-        ui32_PreCallms =    TimersTimerValue();                                     //  Freezes the Actual Sample.
-        PosizionatoreSW (in_PosizionatoreSW, out_PosizionatoreSW);
-        ui32_PostCallms =   TimersTimerValue();
-        //
-        if  (ui32_PostCallms >= ui32_PreCallms)
-            ui32_Samplems = ui32_PostCallms- ui32_PreCallms;                        //  Result =>   Actual - Previous
-        else
-            ui32_Samplems =  ui32_PostCallms+ (0x7fffffff- ui32_PreCallms);         //  Result =>   Actual+ (Rollover- Previous)
-*/
-//  Override
-//
-
-
-        // LA:  Wedge 4 LCDRefresh
-/*
-        if  (
-                (i32_Pulses !=  Pulses_Prec)
-            ) {
-            sprintf (StringText,
-                    "Pulses: %d     ", i32_Pulses);
-            LCM_SetTextColor    (Scale2RGBColor  (0, 0, 31), Scale2RGBColor  (31, 31, 0));
-            LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 1), StringText);
-        }
-*/
-
-//        if  (out_PosizionatoreSW.ui32_PassedActual_ms != ms_0003_prec) {
-        if  (ui32_Samplems != ms_0003_prec) {
-            sprintf (StringText,
-//                    "PassedActual_ms: %d     ", out_PosizionatoreSW.ui32_PassedActual_ms);
-                    "PassedActual_ms: %d     ", ui32_Samplems);
-            LCM_SetTextColor    (Scale2RGBColor  (0, 31, 0), Scale2RGBColor  (31, 0, 31));
-            LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 2), StringText);
-//            ms_0003_prec = out_PosizionatoreSW.ui32_PassedActual_ms;
-            ms_0003_prec = ui32_Samplems;
-        }
+    float   f_PWMPercent;
 
-        if  (out_PosizionatoreSW.i32_ATVSpeed != ms_0002_prec) {
-            sprintf (StringText,
-                    "Speed[ui]: %d     ", out_PosizionatoreSW.i32_ATVSpeed);
-            LCM_SetTextColor    (Scale2RGBColor  (0, 31, 0), Scale2RGBColor  (31, 0, 31));
-            LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 3), StringText);
-            ms_0002_prec = out_PosizionatoreSW.i32_ATVSpeed;
-        }
-
-        f_ai0000_Aux =  adc_temp.read();
-        if  (f_ai0000_Aux != f_ai0000_prec) {
-            sprintf (StringText,
-//                    "ADC Temp = %f\n", (f_ai0000_Aux* 100));
-                    "ADC Temp = %f ", (f_ai0000_Aux* 100));
-            LCM_SetTextColor    (Scale2RGBColor  (0, 31, 0), Scale2RGBColor  (31, 0, 31));
-            LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 4), StringText);
-            f_ai0000_prec = f_ai0000_Aux;
-        }
-
-        f_ai0000_Aux =  adc_vbat.read();
-        if  (f_ai0000_Aux != f_ai0001_prec) {
-            sprintf (StringText,
-//                    "ADC VBat = %f\n", (f_ai0000_Aux* 100));
-                    "ADC VBat = %f ", (f_ai0000_Aux));
-            LCM_SetTextColor    (Scale2RGBColor  (0, 31, 0), Scale2RGBColor  (31, 0, 31));
-            LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 5), StringText);
-            f_ai0001_prec = f_ai0000_Aux;
-        }
+        in_PosizionatoreSW.i64_ActualPosition = Stabilus322699.getPulses();
+        //
+        PosizionatoreSW (in_PosizionatoreSW, out_PosizionatoreSW);
+        in_PosizionatoreSW.rtServoLock_Q =  false;
+    
+    //    int64_t   i64_StartPosition;
+    //    int64_t   i64_Distance;
+    //    bool   b_Accelerating;                   // LA:  bACPos_Accelerating
+    //    bool   b_MaxSpeedReached;
+    //    bool   b_Decelerating;                   //      bACPos_Decelerating
+    //    bool   b_InPosition;
+    //    bool   b_InToleranceFW;
+    //    bool   b_InToleranceBW;
+    
+    //    int32_t    i32_ATVSpeed;
+        f_PWMPercent =  ((float)out_PosizionatoreSW.i32_ATVSpeed)/ (float)in_PosizionatoreSW.i32_Max_Speed;     // LA:  In Range (float) 0.. 1
+        PWM_PB3.write((float) 1.0- f_PWMPercent);                                                               //      Set to x%
 
-        f_ai0000_Aux =  adc_vref.read();
-        if  (f_ai0000_Aux != f_ai0002_prec) {
-            sprintf (StringText,
-//                    "ADC VRef = %f\n", (f_ai0000_Aux* 100));
-                    "ADC VRef = %f ", (f_ai0000_Aux));
-            LCM_SetTextColor    (Scale2RGBColor  (0, 31, 0), Scale2RGBColor  (31, 0, 31));
-            LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 6), StringText);
-            f_ai0002_prec = f_ai0000_Aux;
-        }
-
-        f_ai0000_Aux =  ADC12_IN9.read();
-        if  (f_ai0000_Aux != f_ai0003_prec) {
-            sprintf (StringText,
-                    "ADC12.09 = %f ", (f_ai0000_Aux));
-            LCM_SetTextColor    (Scale2RGBColor  (0, 31, 0), Scale2RGBColor  (31, 0, 31));
-            LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 8), StringText);
-            f_ai0003_prec = f_ai0000_Aux;
-        }
-
-        f_ai0000_Aux =  ADC12_IN15.read();
-        if  (f_ai0000_Aux != f_ai0004_prec) {
-            sprintf (StringText,
-                    "ADC12.15 = %f ", (f_ai0000_Aux));
-            LCM_SetTextColor    (Scale2RGBColor  (0, 31, 0), Scale2RGBColor  (31, 0, 31));
-            LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 9), StringText);
-            f_ai0004_prec = f_ai0000_Aux;
-        }
+    //    bool   b_ATVDirectionFW;
+        rDIR_FWD =  out_PosizionatoreSW.b_ATVDirectionFW;
+    
+    //    bool   b_ATVDirectionBW;
+    
+    //    bool   b_STW1_On;
+    //    bool   b_STW1_NoCStop;
+    //    bool   b_STW1_NoQStop;
+    //    bool   b_STW1_Enable;
+        rENA_Off =  !out_PosizionatoreSW.b_STW1_Enable;
 
         // LA:  Scope, Theory of operation.
         //      ===========================
@@ -310,21 +232,126 @@
         //  2)  Store @ the correct ms
         //  3)  Plot the current Section of the Sampling Vector
         //
+        LCM_ShowTactics (
+                        Stabilus322699.getPulses(),         // Row  1
 
-        LCM_PlotVector();
+                        out_PosizionatoreSW.i32_ATVSpeed,   //      3
+                        adc_temp.read(),                    //      4
+                        adc_vbat.read(),                    //      5
+                        adc_vref.read(),                    //      6
+
+                        ADC12_IN9.read(),                   //      8
+                        ADC12_IN15.read(),                  //      9
+                        (f_PWMPercent* 100)                 //      10
+                        );
+
+        LCM_PlotVector  (
+                        Scale2RGBColor  (0, 0, 0),          //  Back:   Black
+                        Scale2RGBColor  (31, 0, 0)          //  Fore:   Red
+                        );
+
+
+        if  (out_PosizionatoreSW.b_InPosition)
+            if  (in_PosizionatoreSW.i64_TargetPosition > 0)
+                in_PosizionatoreSW.i64_TargetPosition = 0;
+            else
+                in_PosizionatoreSW.i64_TargetPosition = 3200;
     }
 }
 
-static void SampleAndStore  (void) {
+void    LCM_ShowTactics(
+                        int32_t i32_Pulses,
+                        int32_t i32_ATVSpeed,
+                        float f_ai0000_Aux,
+                        float f_ai0001_Aux,
+                        float f_ai0002_Aux,
+                        float f_ai0003_Aux,
+                        float f_ai0004_Aux,
+                        float f_ai0005_Aux
+                        ) {
+
+char    StringText[MAX_CHAR_PER_LINE+ 1];  // don't forget the /0 (end of string)
+
+static int32_t  Pulses_Prec;
+static uint32_t ms_0002_prec;
+
+static float    f_ai0000_prec;
+static float    f_ai0001_prec;
+static float    f_ai0002_prec;
+static float    f_ai0003_prec;
+static float    f_ai0004_prec;
+static float    f_ai0005_prec;
+
+    if  (i32_Pulses !=  Pulses_Prec) {
+        sprintf (StringText,
+                "Pulses: %d     ", i32_Pulses);
+        LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 1), StringText);
+        Pulses_Prec =   i32_Pulses;
+    }
+
+    if  (i32_ATVSpeed != ms_0002_prec) {
+        sprintf (StringText,
+                "Speed[ui]: %d     ", i32_ATVSpeed);
+        LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 3), StringText);
+        ms_0002_prec = i32_ATVSpeed;
+    }
+
+    if  (f_ai0000_Aux != f_ai0000_prec) {
+        sprintf (StringText,
+                "ADC Temp = %f ", (f_ai0000_Aux* 100));
+        LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 4), StringText);
+        f_ai0000_prec = f_ai0000_Aux;
+    }
+
+    if  (f_ai0001_Aux != f_ai0001_prec) {
+        sprintf (StringText,
+                "ADC VBat = %f ", (f_ai0001_Aux* 10));
+        LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 5), StringText);
+        f_ai0001_prec = f_ai0001_Aux;
+    }
+
+    if  (f_ai0002_Aux != f_ai0002_prec) {
+        sprintf (StringText,
+                "ADC VRef = %f ", (f_ai0002_Aux* 10));
+        LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 6), StringText);
+        f_ai0002_prec = f_ai0002_Aux;
+    }
+
+    if  (f_ai0003_Aux != f_ai0003_prec) {
+        sprintf (StringText,
+                "ADC12.09 = %f ", (f_ai0003_Aux* 10)/ 3);
+        LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 8), StringText);
+        f_ai0003_prec = f_ai0003_Aux;
+    }
+
+    if  (f_ai0004_Aux != f_ai0004_prec) {
+        sprintf (StringText,
+                "ADC12.15 = %f ", (f_ai0004_Aux* 10)/ 3);
+        LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 9), StringText);
+        f_ai0004_prec = f_ai0004_Aux;
+    }
+
+    if  (f_ai0005_Aux != f_ai0005_prec) {
+        sprintf (StringText,
+                "PB3 PWM%% = %f ", (f_ai0005_Aux));
+        LCM_DrawString  (0, 0+ (TEXT_ROW_SPACING* 10), StringText);
+        f_ai0005_prec = f_ai0005_Aux;
+    }
+}
+
+//static void SampleAndStore  (void) {
+void    SampleAndStore  (void) {
+//static int32_t i32_Pulses;
 int16_t i16_SampleIndex;
 //float   f_SampleAux;
 
-    af_PlotSamples[240- 1] =   ADC12_IN9.read();
-    for (i16_SampleIndex = 0; i16_SampleIndex < (240- 1); i16_SampleIndex++) {
+//    af_PlotSamples[240- 1] =   ADC12_IN9.read();
+    af_PlotSamples[240- 1] =   (float)  Stabilus322699.getChannelA() * 0.33f;
+
+    for (i16_SampleIndex = 0; i16_SampleIndex < (240- 1); i16_SampleIndex++)
         af_PlotSamples[i16_SampleIndex] =   af_PlotSamples[i16_SampleIndex+ 1];
-    }
 
-    i32_Pulses++;
+//    i32_Pulses++;
 }
 
 //        getDmTft().setPixel    (0,0,1);