Luca Antolini / Mbed 2 deprecated AAA_Stabilus322699_LA0022

Stabilus 322699 wDoublePID, ErrorGetter

Dependencies:   mbed QEI PID DmTftLibraryEx

main.cpp@32:1be3d79ff4db, 2022-04-08 (annotated)

Committer:
lex9296
Date:
Fri Apr 08 05:27:20 2022 +0000
Revision:
32:1be3d79ff4db
Parent:
31:913f664c6189
Child:
33:f77aa3ecf87d
Actuator is Working, but I might need some Current Loop.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GregCr 0:9c0917bfde97 1
lex9296 23:b9d23a2f390e 2 //Warning: Incompatible redefinition of macro "MBED_RAM_SIZE" in "tmp/HU5Hqj", Line: 39, Col: 10
lex9296 23:b9d23a2f390e 3 #ifndef MBED_RAM_SIZE
lex9296 23:b9d23a2f390e 4 #define MBED_RAM_SIZE 0x00018000
lex9296 23:b9d23a2f390e 5 #endif
lex9296 23:b9d23a2f390e 6
lex9296 23:b9d23a2f390e 7 #include "QEI.h"
lex9296 23:b9d23a2f390e 8 #include "SWPos.h"
lex9296 23:b9d23a2f390e 9
GregCr 0:9c0917bfde97 10 #include "Timers.h"
GregCr 0:9c0917bfde97 11 #include "Eeprom.h"
GregCr 0:9c0917bfde97 12
lex9296 27:654100855f5c 13 #define MAX_CHAR_PER_LINE 28
lex9296 27:654100855f5c 14 #define TEXT_ROW_SPACING 16
lex9296 27:654100855f5c 15 #define FONT_CHAR_WIDTH 8
lex9296 27:654100855f5c 16 #define FONT_CHAR_HEIGHT 16
lex9296 27:654100855f5c 17
lex9296 27:654100855f5c 18 #include "DisplayDriver.h"
lex9296 27:654100855f5c 19
lex9296 32:1be3d79ff4db 20 void LCM_ShowTactics(
lex9296 32:1be3d79ff4db 21 int32_t i32_Pulses,
lex9296 32:1be3d79ff4db 22 int32_t i32_ATVSpeed,
lex9296 32:1be3d79ff4db 23 float f_ai0000_Aux,
lex9296 32:1be3d79ff4db 24 float f_ai0001_Aux,
lex9296 32:1be3d79ff4db 25 float f_ai0002_Aux,
lex9296 32:1be3d79ff4db 26 float f_ai0003_Aux,
lex9296 32:1be3d79ff4db 27 float f_ai0004_Aux,
lex9296 32:1be3d79ff4db 28 float f_ai0005_Aux
lex9296 32:1be3d79ff4db 29 );
lex9296 29:7ce8c5779f5e 30 static void SampleAndStore (void);
lex9296 32:1be3d79ff4db 31
lex9296 29:7ce8c5779f5e 32 Ticker SampleTimer; // LA: To Sample 1AI any ms
lex9296 29:7ce8c5779f5e 33 float af_PlotSamples[240]; // LA: "Horiz" Plot Array
lex9296 29:7ce8c5779f5e 34
lex9296 30:e45282a70a4d 35 uint16_t aui16_PlotSamples[240];
lex9296 30:e45282a70a4d 36 uint16_t aui16_PlotClears_Lo[240];
lex9296 30:e45282a70a4d 37 uint16_t aui16_PlotClears_Hi[240];
lex9296 30:e45282a70a4d 38
lex9296 26:bfca0c471a87 39 // LA: Theory of Operation
lex9296 26:bfca0c471a87 40 // ===================
lex9296 26:bfca0c471a87 41 //
lex9296 26:bfca0c471a87 42 // Il PWM funziona da sè in Interrupt
lex9296 26:bfca0c471a87 43 // Il QEI funziona da sè in Interrupt
lex9296 26:bfca0c471a87 44 // Se si creano dei Ticker (Che sono a loro volta interrupt(s)) è possibile che PWM e QEI perdano correlazione con l'HW.
lex9296 26:bfca0c471a87 45 //
lex9296 26:bfca0c471a87 46 // PQM
lex9296 26:bfca0c471a87 47 //
lex9296 26:bfca0c471a87 48 // Il rinfresco del Display e la gestione del motion vanno fatte il più frequentemente possibile ma fuori dal loop dei Ticker.
lex9296 26:bfca0c471a87 49 // Con qst versione (LA0005, che termina un FORK (il successivo è LA0010) quanto detto sopra è FUNZIONANTE.
lex9296 26:bfca0c471a87 50 // Questo messaggio è incluso nel "commitment"
lex9296 26:bfca0c471a87 51
GregCr 0:9c0917bfde97 52 /*!
GregCr 0:9c0917bfde97 53 * \brief Define IO for Unused Pin
GregCr 0:9c0917bfde97 54 */
lex9296 23:b9d23a2f390e 55 //DigitalOut F_CS (D6); // MBED description of pin
lex9296 23:b9d23a2f390e 56 //DigitalOut SD_CS (D8); // MBED description of pin
lex9296 23:b9d23a2f390e 57
lex9296 23:b9d23a2f390e 58 DigitalIn userButton (USER_BUTTON);
lex9296 32:1be3d79ff4db 59 //
lex9296 32:1be3d79ff4db 60 DigitalOut rENA_Off (PC_0); // CN7.38 - Power Enable Relay, Power Disabled when true
lex9296 32:1be3d79ff4db 61 DigitalOut rDIR_FWD (PC_1); // CN7.36 - Move Direction Relay Bridge, Move FW(Extends) when true
mverdy 15:ed7ed20b7114 62
lex9296 23:b9d23a2f390e 63 AnalogIn adc_temp (ADC_TEMP);
lex9296 23:b9d23a2f390e 64 AnalogIn adc_vref (ADC_VREF);
lex9296 23:b9d23a2f390e 65 AnalogIn adc_vbat (ADC_VBAT);
GregCr 0:9c0917bfde97 66
lex9296 29:7ce8c5779f5e 67 AnalogIn ADC12_IN9 (PA_4); // STM32 PA4
lex9296 29:7ce8c5779f5e 68 AnalogIn ADC12_IN15 (PB_0); // STM32 PB0
lex9296 29:7ce8c5779f5e 69
lex9296 23:b9d23a2f390e 70 // PWM
lex9296 23:b9d23a2f390e 71 // ===
lex9296 23:b9d23a2f390e 72 //
lex9296 25:5fd2d69e2927 73 PwmOut PWM_PB3(PWM_OUT); // LA: PWM_OUT = D3 = PB_3
mverdy 14:ebd89dacc807 74
lex9296 28:443c82750dd9 75 // QEI
lex9296 28:443c82750dd9 76 // ===
lex9296 28:443c82750dd9 77 //
lex9296 28:443c82750dd9 78 QEI Stabilus322699 (PA_1, PA_0, NC, 100, QEI::X4_ENCODING);
lex9296 32:1be3d79ff4db 79 //DigitalIn Hall_A (PA_1);
lex9296 32:1be3d79ff4db 80 //DigitalIn Hall_B (PA_0);
lex9296 28:443c82750dd9 81
lex9296 23:b9d23a2f390e 82 // Motion
lex9296 23:b9d23a2f390e 83 // ======
lex9296 23:b9d23a2f390e 84 //
lex9296 28:443c82750dd9 85 //Ticker POS_MotionScan; // LA: Non uso un Ticker. Agisce sotto Interrupt e falsa la lettura QEI e la sincronicità del PWM
lex9296 23:b9d23a2f390e 86 //
lex9296 23:b9d23a2f390e 87 in_sPosizionatoreSW in_PosizionatoreSW;
lex9296 23:b9d23a2f390e 88 out_sPosizionatoreSW out_PosizionatoreSW;
GregCr 0:9c0917bfde97 89
lex9296 23:b9d23a2f390e 90 // LCD Display
lex9296 23:b9d23a2f390e 91 // ===========
lex9296 23:b9d23a2f390e 92 //
lex9296 28:443c82750dd9 93 //Ticker LCD_RefreshViews; // LA: Non uso un Ticker. Agisce sotto Interrupt e falsa la lettura QEI e la sincronicità del PWM
mverdy 15:ed7ed20b7114 94
lex9296 22:12c555cade79 95 void FactoryReset (void) {
mverdy 15:ed7ed20b7114 96 EepromFactoryReset( );
mverdy 15:ed7ed20b7114 97 HAL_NVIC_SystemReset( );
mverdy 15:ed7ed20b7114 98 }
lex9296 23:b9d23a2f390e 99
lex9296 23:b9d23a2f390e 100 // =======
lex9296 23:b9d23a2f390e 101 // =======
lex9296 23:b9d23a2f390e 102 // Main(s)
lex9296 23:b9d23a2f390e 103 // =======
lex9296 23:b9d23a2f390e 104 // =======
lex9296 23:b9d23a2f390e 105 //
lex9296 23:b9d23a2f390e 106 int main (void){
lex9296 32:1be3d79ff4db 107 const float cf_PWMPeriod_s = 0.010;
lex9296 28:443c82750dd9 108
lex9296 32:1be3d79ff4db 109 rDIR_FWD = true; // LA: Actuator Extends
lex9296 32:1be3d79ff4db 110 rENA_Off = true; // LA: Drive Power is Off
lex9296 28:443c82750dd9 111
lex9296 23:b9d23a2f390e 112 EepromInit(); // LA: Inizializza la EEProm
lex9296 23:b9d23a2f390e 113 TimersInit(); // LA: Parte il Timer a 1ms
lex9296 23:b9d23a2f390e 114
lex9296 32:1be3d79ff4db 115 SampleTimer.attach_us(&SampleAndStore, 250);
lex9296 29:7ce8c5779f5e 116
lex9296 23:b9d23a2f390e 117 // LA: FactoryReset se "userButton" premuto all'avvio
lex9296 23:b9d23a2f390e 118 //
lex9296 23:b9d23a2f390e 119 if (userButton == 0) {
lex9296 23:b9d23a2f390e 120 FactoryReset();
lex9296 23:b9d23a2f390e 121 }
lex9296 28:443c82750dd9 122 DisplayDriverInit();
lex9296 23:b9d23a2f390e 123
lex9296 32:1be3d79ff4db 124 PWM_PB3.period(cf_PWMPeriod_s); // LA: Avvia il PWM con TimeBase x [s]
lex9296 32:1be3d79ff4db 125 PWM_PB3.write((float) 0.0); // Set to 0%
lex9296 23:b9d23a2f390e 126
lex9296 23:b9d23a2f390e 127 // LA: Motion (1st) Setup
lex9296 23:b9d23a2f390e 128 //
lex9296 28:443c82750dd9 129 in_PosizionatoreSW.b_AxisPowered = true;
lex9296 28:443c82750dd9 130 in_PosizionatoreSW.b_ACPos_Homed = true;
lex9296 23:b9d23a2f390e 131 in_PosizionatoreSW.i32_Max_Speed = 1024; // [ui]
lex9296 23:b9d23a2f390e 132 in_PosizionatoreSW.i32_ZeroSpeed = 0; //
lex9296 23:b9d23a2f390e 133
lex9296 32:1be3d79ff4db 134 // POS Mode
lex9296 32:1be3d79ff4db 135 // ========
lex9296 32:1be3d79ff4db 136 //
lex9296 32:1be3d79ff4db 137 in_PosizionatoreSW.b_ServoLock = true;
lex9296 32:1be3d79ff4db 138 in_PosizionatoreSW.rtServoLock_Q = false;
lex9296 32:1be3d79ff4db 139 //
lex9296 32:1be3d79ff4db 140 in_PosizionatoreSW.i64_TargetPosition = 3200; // [ui]
lex9296 32:1be3d79ff4db 141 in_PosizionatoreSW.i64_ActualPosition = Stabilus322699.getPulses(); //
lex9296 32:1be3d79ff4db 142 in_PosizionatoreSW.i64_AccelerationWindow = 64; // LA: Spazio concesso all'accelerazione.
lex9296 32:1be3d79ff4db 143 in_PosizionatoreSW.i64_DecelerationWindow = 512; // Spazio concesso alla decelerazione, è prioritario rispetto all'accelerazione.
lex9296 32:1be3d79ff4db 144 in_PosizionatoreSW.i64_diToleranceWindow = 10; // Finestra di Tolleranza
lex9296 32:1be3d79ff4db 145 //
lex9296 32:1be3d79ff4db 146 in_PosizionatoreSW.f_MaximumSpeed_x100_FW = 16.0; // % of "i32_Max_Speed"
lex9296 32:1be3d79ff4db 147 in_PosizionatoreSW.f_MaximumSpeed_x100_BW = 60.0; //
lex9296 32:1be3d79ff4db 148 in_PosizionatoreSW.f_ServoLockSpeed_x100_FW = 4.8; // Riferimento di velocità minima a cui (appena) si muove l'asse [verso FW]
lex9296 32:1be3d79ff4db 149 in_PosizionatoreSW.f_ServoLockSpeed_x100_BW = 18.0; // Riferimento di velocità minima a cui (appena) si muove l'asse [verso BW]
lex9296 32:1be3d79ff4db 150
lex9296 32:1be3d79ff4db 151 // JOG Mode
lex9296 32:1be3d79ff4db 152 // ========
lex9296 32:1be3d79ff4db 153 //
lex9296 23:b9d23a2f390e 154 in_PosizionatoreSW.b_JogMode = false;
lex9296 23:b9d23a2f390e 155 in_PosizionatoreSW.b_JogFW = false;
lex9296 23:b9d23a2f390e 156 in_PosizionatoreSW.b_JogBW = false;
lex9296 23:b9d23a2f390e 157 in_PosizionatoreSW.i32_JogAccel_ms = 500; // [ms]
lex9296 23:b9d23a2f390e 158 in_PosizionatoreSW.i32_JogDecel_ms = 250; //
lex9296 23:b9d23a2f390e 159 //
lex9296 32:1be3d79ff4db 160 in_PosizionatoreSW.f_JogSpeed_x100_FW = (in_PosizionatoreSW.f_MaximumSpeed_x100_FW/ 2); // LA: JOG's the Half of Max POS's Speed
lex9296 32:1be3d79ff4db 161 in_PosizionatoreSW.f_JogSpeed_x100_BW = (in_PosizionatoreSW.f_MaximumSpeed_x100_BW/ 2); //
lex9296 23:b9d23a2f390e 162
lex9296 23:b9d23a2f390e 163
lex9296 28:443c82750dd9 164 // LA: Color RGB Component(s)
lex9296 28:443c82750dd9 165 // ======================
lex9296 28:443c82750dd9 166 //
lex9296 28:443c82750dd9 167 // RED 0000 1000 0000 0000 min 0x0800 02048
lex9296 28:443c82750dd9 168 // 1111 1000 0000 0000 max 0xf800 63488
lex9296 28:443c82750dd9 169 //
lex9296 28:443c82750dd9 170 // GREEN 0000 0000 0010 0000 min 0x0020 00032
lex9296 28:443c82750dd9 171 // 0000 0111 1110 0000 max 0x07e0 02016
lex9296 28:443c82750dd9 172 //
lex9296 28:443c82750dd9 173 // BLUE 0000 0000 0000 0001 min 0x0001 00001
lex9296 28:443c82750dd9 174 // 0000 0000 0001 1111 max 0x001f 00031
lex9296 28:443c82750dd9 175 //
lex9296 28:443c82750dd9 176 // La componente ROSSA ha 5 bit di escursione (0.. 31),
lex9296 28:443c82750dd9 177 // La componente VERDE ha 6 bit di escursione (0.. 63),
lex9296 28:443c82750dd9 178 // La componente BLU ha 5 bit di escursione (0.. 31),
lex9296 28:443c82750dd9 179 //
lex9296 28:443c82750dd9 180 // Le componenti RGB di "Color" sono quindi scritte negli appropriati registri come segue:
lex9296 28:443c82750dd9 181 //
lex9296 28:443c82750dd9 182 // writeReg(RED, (Color & 0xf800) >> 11);
lex9296 28:443c82750dd9 183 // writeReg(GREEN, (Color & 0x07e0) >> 5);
lex9296 28:443c82750dd9 184 // writeReg(BLUE, (Color & 0x001f));
lex9296 28:443c82750dd9 185 //
lex9296 32:1be3d79ff4db 186 LCM_SetTextColor(Scale2RGBColor (0, 0, 0), Scale2RGBColor (31, 0, 0)); // LA: Red on Black
lex9296 32:1be3d79ff4db 187 LCM_ClearScreen (Scale2RGBColor (0, 0, 0)); // Black Background
lex9296 32:1be3d79ff4db 188 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 0), "You Start Me Up ..."); // Intro Text
lex9296 23:b9d23a2f390e 189
lex9296 32:1be3d79ff4db 190 // rDIR_FWD = false; // Collapse
lex9296 32:1be3d79ff4db 191 // rENA_Off = false; // Power On
lex9296 32:1be3d79ff4db 192
lex9296 32:1be3d79ff4db 193 in_PosizionatoreSW.b_ServoLock = true;
lex9296 32:1be3d79ff4db 194 in_PosizionatoreSW.rtServoLock_Q = true;
lex9296 28:443c82750dd9 195
lex9296 28:443c82750dd9 196 while (1) {
lex9296 32:1be3d79ff4db 197 float f_PWMPercent;
lex9296 28:443c82750dd9 198
lex9296 32:1be3d79ff4db 199 in_PosizionatoreSW.i64_ActualPosition = Stabilus322699.getPulses();
lex9296 32:1be3d79ff4db 200 //
lex9296 32:1be3d79ff4db 201 PosizionatoreSW (in_PosizionatoreSW, out_PosizionatoreSW);
lex9296 32:1be3d79ff4db 202 in_PosizionatoreSW.rtServoLock_Q = false;
lex9296 32:1be3d79ff4db 203
lex9296 32:1be3d79ff4db 204 // int64_t i64_StartPosition;
lex9296 32:1be3d79ff4db 205 // int64_t i64_Distance;
lex9296 32:1be3d79ff4db 206 // bool b_Accelerating; // LA: bACPos_Accelerating
lex9296 32:1be3d79ff4db 207 // bool b_MaxSpeedReached;
lex9296 32:1be3d79ff4db 208 // bool b_Decelerating; // bACPos_Decelerating
lex9296 32:1be3d79ff4db 209 // bool b_InPosition;
lex9296 32:1be3d79ff4db 210 // bool b_InToleranceFW;
lex9296 32:1be3d79ff4db 211 // bool b_InToleranceBW;
lex9296 32:1be3d79ff4db 212
lex9296 32:1be3d79ff4db 213 // int32_t i32_ATVSpeed;
lex9296 32:1be3d79ff4db 214 f_PWMPercent = ((float)out_PosizionatoreSW.i32_ATVSpeed)/ (float)in_PosizionatoreSW.i32_Max_Speed; // LA: In Range (float) 0.. 1
lex9296 32:1be3d79ff4db 215 PWM_PB3.write((float) 1.0- f_PWMPercent); // Set to x%
lex9296 27:654100855f5c 216
lex9296 32:1be3d79ff4db 217 // bool b_ATVDirectionFW;
lex9296 32:1be3d79ff4db 218 rDIR_FWD = out_PosizionatoreSW.b_ATVDirectionFW;
lex9296 32:1be3d79ff4db 219
lex9296 32:1be3d79ff4db 220 // bool b_ATVDirectionBW;
lex9296 32:1be3d79ff4db 221
lex9296 32:1be3d79ff4db 222 // bool b_STW1_On;
lex9296 32:1be3d79ff4db 223 // bool b_STW1_NoCStop;
lex9296 32:1be3d79ff4db 224 // bool b_STW1_NoQStop;
lex9296 32:1be3d79ff4db 225 // bool b_STW1_Enable;
lex9296 32:1be3d79ff4db 226 rENA_Off = !out_PosizionatoreSW.b_STW1_Enable;
lex9296 29:7ce8c5779f5e 227
lex9296 29:7ce8c5779f5e 228 // LA: Scope, Theory of operation.
lex9296 29:7ce8c5779f5e 229 // ===========================
lex9296 29:7ce8c5779f5e 230 //
lex9296 29:7ce8c5779f5e 231 // 1) Sample a Value @ any Step
lex9296 29:7ce8c5779f5e 232 // 2) Store @ the correct ms
lex9296 29:7ce8c5779f5e 233 // 3) Plot the current Section of the Sampling Vector
lex9296 29:7ce8c5779f5e 234 //
lex9296 32:1be3d79ff4db 235 LCM_ShowTactics (
lex9296 32:1be3d79ff4db 236 Stabilus322699.getPulses(), // Row 1
lex9296 29:7ce8c5779f5e 237
lex9296 32:1be3d79ff4db 238 out_PosizionatoreSW.i32_ATVSpeed, // 3
lex9296 32:1be3d79ff4db 239 adc_temp.read(), // 4
lex9296 32:1be3d79ff4db 240 adc_vbat.read(), // 5
lex9296 32:1be3d79ff4db 241 adc_vref.read(), // 6
lex9296 32:1be3d79ff4db 242
lex9296 32:1be3d79ff4db 243 ADC12_IN9.read(), // 8
lex9296 32:1be3d79ff4db 244 ADC12_IN15.read(), // 9
lex9296 32:1be3d79ff4db 245 (f_PWMPercent* 100) // 10
lex9296 32:1be3d79ff4db 246 );
lex9296 32:1be3d79ff4db 247
lex9296 32:1be3d79ff4db 248 LCM_PlotVector (
lex9296 32:1be3d79ff4db 249 Scale2RGBColor (0, 0, 0), // Back: Black
lex9296 32:1be3d79ff4db 250 Scale2RGBColor (31, 0, 0) // Fore: Red
lex9296 32:1be3d79ff4db 251 );
lex9296 32:1be3d79ff4db 252
lex9296 32:1be3d79ff4db 253
lex9296 32:1be3d79ff4db 254 if (out_PosizionatoreSW.b_InPosition)
lex9296 32:1be3d79ff4db 255 if (in_PosizionatoreSW.i64_TargetPosition > 0)
lex9296 32:1be3d79ff4db 256 in_PosizionatoreSW.i64_TargetPosition = 0;
lex9296 32:1be3d79ff4db 257 else
lex9296 32:1be3d79ff4db 258 in_PosizionatoreSW.i64_TargetPosition = 3200;
lex9296 28:443c82750dd9 259 }
lex9296 28:443c82750dd9 260 }
lex9296 28:443c82750dd9 261
lex9296 32:1be3d79ff4db 262 void LCM_ShowTactics(
lex9296 32:1be3d79ff4db 263 int32_t i32_Pulses,
lex9296 32:1be3d79ff4db 264 int32_t i32_ATVSpeed,
lex9296 32:1be3d79ff4db 265 float f_ai0000_Aux,
lex9296 32:1be3d79ff4db 266 float f_ai0001_Aux,
lex9296 32:1be3d79ff4db 267 float f_ai0002_Aux,
lex9296 32:1be3d79ff4db 268 float f_ai0003_Aux,
lex9296 32:1be3d79ff4db 269 float f_ai0004_Aux,
lex9296 32:1be3d79ff4db 270 float f_ai0005_Aux
lex9296 32:1be3d79ff4db 271 ) {
lex9296 32:1be3d79ff4db 272
lex9296 32:1be3d79ff4db 273 char StringText[MAX_CHAR_PER_LINE+ 1]; // don't forget the /0 (end of string)
lex9296 32:1be3d79ff4db 274
lex9296 32:1be3d79ff4db 275 static int32_t Pulses_Prec;
lex9296 32:1be3d79ff4db 276 static uint32_t ms_0002_prec;
lex9296 32:1be3d79ff4db 277
lex9296 32:1be3d79ff4db 278 static float f_ai0000_prec;
lex9296 32:1be3d79ff4db 279 static float f_ai0001_prec;
lex9296 32:1be3d79ff4db 280 static float f_ai0002_prec;
lex9296 32:1be3d79ff4db 281 static float f_ai0003_prec;
lex9296 32:1be3d79ff4db 282 static float f_ai0004_prec;
lex9296 32:1be3d79ff4db 283 static float f_ai0005_prec;
lex9296 32:1be3d79ff4db 284
lex9296 32:1be3d79ff4db 285 if (i32_Pulses != Pulses_Prec) {
lex9296 32:1be3d79ff4db 286 sprintf (StringText,
lex9296 32:1be3d79ff4db 287 "Pulses: %d ", i32_Pulses);
lex9296 32:1be3d79ff4db 288 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 1), StringText);
lex9296 32:1be3d79ff4db 289 Pulses_Prec = i32_Pulses;
lex9296 32:1be3d79ff4db 290 }
lex9296 32:1be3d79ff4db 291
lex9296 32:1be3d79ff4db 292 if (i32_ATVSpeed != ms_0002_prec) {
lex9296 32:1be3d79ff4db 293 sprintf (StringText,
lex9296 32:1be3d79ff4db 294 "Speed[ui]: %d ", i32_ATVSpeed);
lex9296 32:1be3d79ff4db 295 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 3), StringText);
lex9296 32:1be3d79ff4db 296 ms_0002_prec = i32_ATVSpeed;
lex9296 32:1be3d79ff4db 297 }
lex9296 32:1be3d79ff4db 298
lex9296 32:1be3d79ff4db 299 if (f_ai0000_Aux != f_ai0000_prec) {
lex9296 32:1be3d79ff4db 300 sprintf (StringText,
lex9296 32:1be3d79ff4db 301 "ADC Temp = %f ", (f_ai0000_Aux* 100));
lex9296 32:1be3d79ff4db 302 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 4), StringText);
lex9296 32:1be3d79ff4db 303 f_ai0000_prec = f_ai0000_Aux;
lex9296 32:1be3d79ff4db 304 }
lex9296 32:1be3d79ff4db 305
lex9296 32:1be3d79ff4db 306 if (f_ai0001_Aux != f_ai0001_prec) {
lex9296 32:1be3d79ff4db 307 sprintf (StringText,
lex9296 32:1be3d79ff4db 308 "ADC VBat = %f ", (f_ai0001_Aux* 10));
lex9296 32:1be3d79ff4db 309 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 5), StringText);
lex9296 32:1be3d79ff4db 310 f_ai0001_prec = f_ai0001_Aux;
lex9296 32:1be3d79ff4db 311 }
lex9296 32:1be3d79ff4db 312
lex9296 32:1be3d79ff4db 313 if (f_ai0002_Aux != f_ai0002_prec) {
lex9296 32:1be3d79ff4db 314 sprintf (StringText,
lex9296 32:1be3d79ff4db 315 "ADC VRef = %f ", (f_ai0002_Aux* 10));
lex9296 32:1be3d79ff4db 316 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 6), StringText);
lex9296 32:1be3d79ff4db 317 f_ai0002_prec = f_ai0002_Aux;
lex9296 32:1be3d79ff4db 318 }
lex9296 32:1be3d79ff4db 319
lex9296 32:1be3d79ff4db 320 if (f_ai0003_Aux != f_ai0003_prec) {
lex9296 32:1be3d79ff4db 321 sprintf (StringText,
lex9296 32:1be3d79ff4db 322 "ADC12.09 = %f ", (f_ai0003_Aux* 10)/ 3);
lex9296 32:1be3d79ff4db 323 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 8), StringText);
lex9296 32:1be3d79ff4db 324 f_ai0003_prec = f_ai0003_Aux;
lex9296 32:1be3d79ff4db 325 }
lex9296 32:1be3d79ff4db 326
lex9296 32:1be3d79ff4db 327 if (f_ai0004_Aux != f_ai0004_prec) {
lex9296 32:1be3d79ff4db 328 sprintf (StringText,
lex9296 32:1be3d79ff4db 329 "ADC12.15 = %f ", (f_ai0004_Aux* 10)/ 3);
lex9296 32:1be3d79ff4db 330 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 9), StringText);
lex9296 32:1be3d79ff4db 331 f_ai0004_prec = f_ai0004_Aux;
lex9296 32:1be3d79ff4db 332 }
lex9296 32:1be3d79ff4db 333
lex9296 32:1be3d79ff4db 334 if (f_ai0005_Aux != f_ai0005_prec) {
lex9296 32:1be3d79ff4db 335 sprintf (StringText,
lex9296 32:1be3d79ff4db 336 "PB3 PWM%% = %f ", (f_ai0005_Aux));
lex9296 32:1be3d79ff4db 337 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 10), StringText);
lex9296 32:1be3d79ff4db 338 f_ai0005_prec = f_ai0005_Aux;
lex9296 32:1be3d79ff4db 339 }
lex9296 32:1be3d79ff4db 340 }
lex9296 32:1be3d79ff4db 341
lex9296 32:1be3d79ff4db 342 //static void SampleAndStore (void) {
lex9296 32:1be3d79ff4db 343 void SampleAndStore (void) {
lex9296 32:1be3d79ff4db 344 //static int32_t i32_Pulses;
lex9296 29:7ce8c5779f5e 345 int16_t i16_SampleIndex;
lex9296 29:7ce8c5779f5e 346 //float f_SampleAux;
lex9296 29:7ce8c5779f5e 347
lex9296 32:1be3d79ff4db 348 // af_PlotSamples[240- 1] = ADC12_IN9.read();
lex9296 32:1be3d79ff4db 349 af_PlotSamples[240- 1] = (float) Stabilus322699.getChannelA() * 0.33f;
lex9296 32:1be3d79ff4db 350
lex9296 32:1be3d79ff4db 351 for (i16_SampleIndex = 0; i16_SampleIndex < (240- 1); i16_SampleIndex++)
lex9296 29:7ce8c5779f5e 352 af_PlotSamples[i16_SampleIndex] = af_PlotSamples[i16_SampleIndex+ 1];
lex9296 29:7ce8c5779f5e 353
lex9296 32:1be3d79ff4db 354 // i32_Pulses++;
lex9296 29:7ce8c5779f5e 355 }
lex9296 29:7ce8c5779f5e 356
lex9296 31:913f664c6189 357 // getDmTft().setPixel (0,0,1);