Luca Antolini
All the previous but the PID
Dependencies: mbed QEI PID DmTftLibraryEx
main.cpp
- Committer:
- lex9296
- Date:
- 2022-02-15
- Revision:
- 27:654100855f5c
- Parent:
- 26:bfca0c471a87
- Child:
- 28:443c82750dd9
File content as of revision 27:654100855f5c:
//Warning: Incompatible redefinition of macro "MBED_RAM_SIZE" in "tmp/HU5Hqj", Line: 39, Col: 10
#ifndef MBED_RAM_SIZE
#define MBED_RAM_SIZE 0x00018000
#endif
#include "QEI.h"
#include "SWPos.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"
// LA: Theory of Operation
// ===================
//
// Il PWM funziona da sè in Interrupt
// Il QEI funziona da sè in Interrupt
// Se si creano dei Ticker (Che sono a loro volta interrupt(s)) è possibile che PWM e QEI perdano correlazione con l'HW.
//
// PQM
//
// Il rinfresco del Display e la gestione del motion vanno fatte il più frequentemente possibile ma fuori dal loop dei Ticker.
// Con qst versione (LA0005, che termina un FORK (il successivo è LA0010) quanto detto sopra è FUNZIONANTE.
// Questo messaggio è incluso nel "commitment"
/*!
* \brief Define IO for Unused Pin
*/
//DigitalOut F_CS (D6); // MBED description of pin
//DigitalOut SD_CS (D8); // MBED description of pin
DigitalIn userButton (USER_BUTTON);
AnalogIn adc_temp (ADC_TEMP);
AnalogIn adc_vref (ADC_VREF);
AnalogIn adc_vbat (ADC_VBAT);
// PWM
// ===
//
PwmOut PWM_PB3(PWM_OUT); // LA: PWM_OUT = D3 = PB_3
// Motion
// ======
//
//Ticker POS_MotionScan; //
QEI Stabilus322699 (PA_1, PA_0, NC, 100, QEI::X4_ENCODING);
//
in_sPosizionatoreSW in_PosizionatoreSW;
out_sPosizionatoreSW out_PosizionatoreSW;
// LCD Display
// ===========
//
//Ticker LCD_RefreshViews; //
//extern void StabilusMenu (uint32_t, uint32_t, int64_t); // LA: Prototype ...
void FactoryReset (void) {
EepromFactoryReset( );
HAL_NVIC_SystemReset( );
}
/*
void LCD____tScan (void) {
// StabilusMenu (out_PosizionatoreSW.ui32_PreviousStep_ms, out_PosizionatoreSW.ui32_ActualStepSampled_ms, out_PosizionatoreSW.ui32_PassedActual_ms);
}
void Motion_tScan (void) {
PosizionatoreSW (in_PosizionatoreSW, out_PosizionatoreSW);
}
*/
// =======
// =======
// Main(s)
// =======
// =======
//
int main (void){
//int32_t i32_Pulses;
// F_CS = 1; // LA: HW Initialization InProgress
// SD_CS = 1; // LA: HW Initialization InProgress
// BoardLED3 = 1;
EepromInit(); // LA: Inizializza la EEProm
TimersInit(); // LA: Parte il Timer a 1ms
// LA: FactoryReset se "userButton" premuto all'avvio
//
if (userButton == 0) {
FactoryReset();
}
DisplayDriverInit();
// LCM_SetTextColor(BLUE, BLACK);
// LCM_SetTextColor(GRAY1, BLACK);
// LCM_SetTextColor(GRAY2, WHITE);
LCM_SetTextColor(BLACK, WHITE);
// MenuInit(); // LA: Inizializza il Display
// LCD_RefreshViews.attach_us (&LCD____tScan, 250000); // Scansione LCD @100ms
// LA: Motion (1st) Setup
//
in_PosizionatoreSW.b_AxisPowered = false;
in_PosizionatoreSW.b_ACPos_Homed = false;
in_PosizionatoreSW.i32_Max_Speed = 1024; // [ui]
in_PosizionatoreSW.i32_ZeroSpeed = 0; //
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.b_ServoLock = false;
in_PosizionatoreSW.rtServoLock_Q = false;
//
in_PosizionatoreSW.i64_TargetPosition = 0; // [ui]
in_PosizionatoreSW.i64_ActualPosition = 0; //
in_PosizionatoreSW.i64_AccelerationWindow = 0; // LA: Spazio concesso all'accelerazione.
in_PosizionatoreSW.i64_DecelerationWindow = 0; // Spazio concesso alla decelerazione, è prioritario rispetto all'accelerazione.
in_PosizionatoreSW.i64_diToleranceWindow = 0; // 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; //
// POS_MotionScan.attach_us (&Motion_tScan, 2000); // LA: Scansione Motion @2ms
// PWM_SetOut.attach_us (&PWM____tScan, 100); // Scansione base PWM @100us Ok
// PWM_SetOut.attach_us (&PWM____tScan, 50); // Scansione base PWM @50us Ok
// PWM_SetOut.attach_us (&PWM____tScan, 30); // Scansione base PWM @30us Ok
// PWM_SetOut.attach_us (&PWM____tScan, 25); // Scansione base PWM @25us No (al pelo ...)
// PWM_SetOut.attach_us (&PWM____tScan, 10); // Scansione base PWM @10us No (al pelo ...)
// PWM_SetOut.attach_us (&PWM____tScan, 20); // Scansione base PWM @20us No
// PWM_SetOut.attach_us (&PWM____tScan, 40); // Scansione base PWM @40us, Duty Cycle 4ms, 0- 100%
// PWM_SetOut.attach_us (&PWM____tScan, 100); // Scansione base PWM @40us, Duty Cycle 5ms, 0- 100%
PWM_PB3.period_us(100); // LA: TimeBase is 100us
#define RED 0xf800 // 1111 1000 0000 0000
#define GREEN 0x07e0 // 0000 0111 1110 0000
#define BLUE 0x001f // 0000 0000 0001 1111
#define BLACK 0x0000 // 0000 0000 0000 0000
#define YELLOW 0xffe0 // 1111 1111 1110 0000
#define WHITE 0xffff // 1111 1111 1111 1111
#define CYAN 0x07ff // 0000 0111 1111 1111
#define BRIGHT_RED 0xf810 // 1111 1000 0001 0000
#define GRAY1 0x8410 // 1000 0100 0001 0000
#define GRAY2 0x4208 // 0100 0010 0000 1000
// LA: Color RGB Component(s)
// ======================
//
// RED 0000 1000 0000 0000 min 0x0800 02048
// 1111 1000 0000 0000 max 0xf800 63488
//
// GREEN 0000 0000 0010 0000 min 0x0020 00032
// 0000 0111 1110 0000 max 0x07e0 02016
//
// BLUE 0000 0000 0000 0001 min 0x0001 00001
// 0000 0000 0001 1111 max 0x001f 00031
//
// La componente ROSSA ha 5 bit di escursione (0.. 31),
// La componente VERDE ha 6 bit di escursione (0.. 63),
// La componente BLU ha 5 bit di escursione (0.. 31),
//
// Le componenti RGB di "Color" sono quindi scritte negli appropriati registri come segue:
//
// writeReg(RED, (Color & 0xf800) >> 11);
// writeReg(GREEN, (Color & 0x07e0) >> 5);
// writeReg(BLUE, (Color & 0x001f));
//
// LCM_ClearScreen (GRAY1);
// LCM_ClearScreen (BLACK);
// LCM_ClearScreen (GRAY2);
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];
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;
while (ui16_TestStep < 32) {
ui16_TestColor = Scale2RGBColor (ui16_R, ui16_G, ui16_B);
LCM_ClearScreen (ui16_TestColor);
LCM_SetTextColor(ui16_TestColor, (0xffff- ui16_TestColor));
sprintf (StringText,
"Color: %04x %04x ", ui16_TestColor, ui16_TestStep);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), StringText);
sprintf (StringText,
"R:%02x G:%02x B:%02x ", ui16_R, ui16_G, ui16_B);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 5), StringText);
// delay (500);
ui16_R++;
ui16_G++;
ui16_B++;
// ui16_TestColor += 0x0841;
ui16_TestStep ++;
}
delay (2500);
/*
ui16_TestColor = 0x0000;
ui16_TestStep = 0x0000;
while (ui16_TestStep < 32) {
LCM_ClearScreen (ui16_TestColor);
LCM_SetTextColor(ui16_TestColor, (0xffff- ui16_TestColor));
sprintf (StringText,
"Color: %#04x %#04x ", ui16_TestColor, ui16_TestStep);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), StringText);
// ui16_TestColor += 0x0841;
ui16_TestColor += 0x0001;
ui16_TestStep ++;
}
ui16_TestColor = 0x0000;
ui16_TestStep = 0x0000;
while (ui16_TestStep < 32) {
LCM_ClearScreen (ui16_TestColor);
LCM_SetTextColor(ui16_TestColor, (0xffff- ui16_TestColor));
sprintf (StringText,
"Color: %#04x %#04x ", ui16_TestColor, ui16_TestStep);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), StringText);
// ui16_TestColor += 0x0841;
ui16_TestColor += 0x0040;
ui16_TestStep ++;
}
ui16_TestColor = 0x0000;
ui16_TestStep = 0x0000;
while (ui16_TestStep < 32) {
LCM_ClearScreen (ui16_TestColor);
LCM_SetTextColor(ui16_TestColor, (0xffff- ui16_TestColor));
sprintf (StringText,
"Color: %#04x %#04x ", ui16_TestColor, ui16_TestStep);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), StringText);
// ui16_TestColor += 0x0841;
ui16_TestColor += 0x0800;
ui16_TestStep ++;
}
ui16_TestColor = 0x0000;
ui16_TestStep = 0x0000;
while (ui16_TestStep < 32) {
LCM_ClearScreen (ui16_TestColor);
LCM_SetTextColor(ui16_TestColor, (0xffff- ui16_TestColor));
sprintf (StringText,
"Color: %#04x %#04x ", ui16_TestColor, ui16_TestStep);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), StringText);
// ui16_TestColor += 0x0841;
ui16_TestColor += 0x0041;
ui16_TestStep ++;
}
ui16_TestColor = 0x0000;
ui16_TestStep = 0x0000;
while (ui16_TestStep < 32) {
LCM_ClearScreen (ui16_TestColor);
LCM_SetTextColor(ui16_TestColor, (0xffff- ui16_TestColor));
sprintf (StringText,
"Color: %#04x %#04x ", ui16_TestColor, ui16_TestStep);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), StringText);
// ui16_TestColor += 0x0841;
ui16_TestColor += 0x0840;
ui16_TestStep ++;
}
ui16_TestColor = 0x0000;
ui16_TestStep = 0x0000;
while (ui16_TestStep < 32) {
LCM_ClearScreen (ui16_TestColor);
LCM_SetTextColor(ui16_TestColor, (0xffff- ui16_TestColor));
sprintf (StringText,
"Color: %#04x %#04x ", ui16_TestColor, ui16_TestStep);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), StringText);
// ui16_TestColor += 0x0841;
ui16_TestColor += 0x0801;
ui16_TestStep ++;
}
delay (5000);
*/
/*
LCM_ClearScreen (0x07e0);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), "0x07e0");
delay (1000);
LCM_ClearScreen (0x07c0);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), "0x07c0");
delay (1000);
LCM_ClearScreen (0x07e0);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), "0x07e0");
delay (1000);
LCM_ClearScreen (0x07c0);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), "0x07c0");
delay (1000);
LCM_ClearScreen (0x0000);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), "0x0000");
delay (1000);
LCM_ClearScreen (0x0020);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), "0x0020");
delay (1000);
LCM_ClearScreen (0x0040);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), "0x0040");
delay (1000);
LCM_ClearScreen (0x0020);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), "0x0020");
delay (1000);
LCM_ClearScreen (0x0040);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), "0x0040");
delay (1000);
LCM_ClearScreen (0x0000);
LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), "0x0000");
delay (1000);
*/
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 ...");
while (1) {
static int32_t Pulses_Prec;
static uint32_t ms_0003_prec;
int32_t i32_Pulses;
i32_Pulses = Stabilus322699.getPulses();
PosizionatoreSW (in_PosizionatoreSW, out_PosizionatoreSW);
PWM_PB3.pulsewidth_us(((float)i32_Pulses/ (float)5000.0)* (float)100.0); // 0.. 100us -> 0.. 100%
// 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) {
sprintf (StringText,
"PassedActual_ms: %d ", out_PosizionatoreSW.ui32_PassedActual_ms);
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;
}
// StabilusMenu (0, 0, out_PosizionatoreSW.ui32_PassedActual_ms, i32_Pulses);
}
}