Stabilus 322699 wDoublePID, ErrorGetter
Dependencies: mbed QEI PID DmTftLibraryEx
main.cpp@33:f77aa3ecf87d, 2022-04-11 (annotated)
- Committer:
- lex9296
- Date:
- Mon Apr 11 06:01:01 2022 +0000
- Revision:
- 33:f77aa3ecf87d
- Parent:
- 32:1be3d79ff4db
- Child:
- 34:0522cebfe489
Added some "Position to Speed" graph
Who changed what in which revision?
User | Revision | Line number | New 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 | 33:f77aa3ecf87d | 20 | const float cf_SCOPeriod_s = 0.00025000; // 250us |
lex9296 | 33:f77aa3ecf87d | 21 | const float cf_PWMPeriod_s = 0.01000000; // 10ms |
lex9296 | 33:f77aa3ecf87d | 22 | const float cf_MOTPeriod_s = 0.01000000; // 10ms |
lex9296 | 33:f77aa3ecf87d | 23 | |
lex9296 | 33:f77aa3ecf87d | 24 | //const int64_t ci64_TargetPOS = 240; // |
lex9296 | 33:f77aa3ecf87d | 25 | const int64_t ci64_TargetPOS = 3200; // |
lex9296 | 33:f77aa3ecf87d | 26 | |
lex9296 | 33:f77aa3ecf87d | 27 | // LA: LCM_ShowTactics |
lex9296 | 33:f77aa3ecf87d | 28 | // =============== |
lex9296 | 33:f77aa3ecf87d | 29 | // |
lex9296 | 32:1be3d79ff4db | 30 | void LCM_ShowTactics( |
lex9296 | 33:f77aa3ecf87d | 31 | int64_t i64_Pulses, |
lex9296 | 33:f77aa3ecf87d | 32 | int32_t i32_ATVSpeed, |
lex9296 | 33:f77aa3ecf87d | 33 | // |
lex9296 | 33:f77aa3ecf87d | 34 | float f_ai0000_Aux, |
lex9296 | 33:f77aa3ecf87d | 35 | float f_ai0001_Aux, |
lex9296 | 33:f77aa3ecf87d | 36 | float f_ai0002_Aux, |
lex9296 | 33:f77aa3ecf87d | 37 | float f_ai0003_Aux, |
lex9296 | 33:f77aa3ecf87d | 38 | float f_ai0004_Aux, |
lex9296 | 33:f77aa3ecf87d | 39 | float f_ai0005_Aux, |
lex9296 | 33:f77aa3ecf87d | 40 | // |
lex9296 | 33:f77aa3ecf87d | 41 | int32_t i32_Velocity, |
lex9296 | 33:f77aa3ecf87d | 42 | int32_t i32_Acceleration, |
lex9296 | 33:f77aa3ecf87d | 43 | int32_t i32_Jerk |
lex9296 | 33:f77aa3ecf87d | 44 | |
lex9296 | 32:1be3d79ff4db | 45 | ); |
lex9296 | 32:1be3d79ff4db | 46 | |
lex9296 | 33:f77aa3ecf87d | 47 | // LA: SampleAndStore |
lex9296 | 33:f77aa3ecf87d | 48 | // LA: SampleTimer == |
lex9296 | 33:f77aa3ecf87d | 49 | // ============== |
lex9296 | 33:f77aa3ecf87d | 50 | // |
lex9296 | 33:f77aa3ecf87d | 51 | static void SampleAndStore (void); |
lex9296 | 33:f77aa3ecf87d | 52 | Ticker SampleTimer; // LA: To Sample 1AI any 'x'ms |
lex9296 | 33:f77aa3ecf87d | 53 | |
lex9296 | 29:7ce8c5779f5e | 54 | float af_PlotSamples[240]; // LA: "Horiz" Plot Array |
lex9296 | 29:7ce8c5779f5e | 55 | |
lex9296 | 30:e45282a70a4d | 56 | uint16_t aui16_PlotSamples[240]; |
lex9296 | 30:e45282a70a4d | 57 | uint16_t aui16_PlotClears_Lo[240]; |
lex9296 | 30:e45282a70a4d | 58 | uint16_t aui16_PlotClears_Hi[240]; |
lex9296 | 30:e45282a70a4d | 59 | |
lex9296 | 33:f77aa3ecf87d | 60 | int32_t ai32_POS2VelGraph[4000]; |
lex9296 | 33:f77aa3ecf87d | 61 | uint16_t aui16_PlotPOS2VelSamples[240]; |
lex9296 | 33:f77aa3ecf87d | 62 | uint16_t aui16_PlotPOS2VelClears_Lo[240]; |
lex9296 | 33:f77aa3ecf87d | 63 | uint16_t aui16_PlotPOS2VelClears_Hi[240]; |
lex9296 | 33:f77aa3ecf87d | 64 | |
lex9296 | 33:f77aa3ecf87d | 65 | int32_t ai32_POS2AccGraph[4000]; |
lex9296 | 33:f77aa3ecf87d | 66 | int32_t ai32_POS2JrkGraph[4000]; |
lex9296 | 33:f77aa3ecf87d | 67 | |
lex9296 | 33:f77aa3ecf87d | 68 | // LA: MotionHandler |
lex9296 | 33:f77aa3ecf87d | 69 | // LA: MotionTimer = |
lex9296 | 33:f77aa3ecf87d | 70 | // ============= |
lex9296 | 33:f77aa3ecf87d | 71 | // |
lex9296 | 33:f77aa3ecf87d | 72 | static void MotionHandler (void); |
lex9296 | 33:f77aa3ecf87d | 73 | Ticker MotionTimer; // LA: Gestisce il rilevamento (RT) di Velocità, Accelerazione e Jerk |
lex9296 | 33:f77aa3ecf87d | 74 | // Esegue il Movimento Programmato |
lex9296 | 33:f77aa3ecf87d | 75 | |
lex9296 | 33:f77aa3ecf87d | 76 | float f_PWMPercent; // Deprecated |
lex9296 | 33:f77aa3ecf87d | 77 | |
lex9296 | 33:f77aa3ecf87d | 78 | float fVelocity; |
lex9296 | 33:f77aa3ecf87d | 79 | float fAcceleration; |
lex9296 | 33:f77aa3ecf87d | 80 | float fJerk; |
lex9296 | 33:f77aa3ecf87d | 81 | float fTorque; |
lex9296 | 33:f77aa3ecf87d | 82 | |
lex9296 | 33:f77aa3ecf87d | 83 | int64_t i64_Position_Prec; |
lex9296 | 33:f77aa3ecf87d | 84 | int32_t i32_Velocity; |
lex9296 | 33:f77aa3ecf87d | 85 | int32_t i32_Velocity_Prec; |
lex9296 | 33:f77aa3ecf87d | 86 | int32_t i32_Acceleration; |
lex9296 | 33:f77aa3ecf87d | 87 | int32_t i32_Acceleration_Prec; |
lex9296 | 33:f77aa3ecf87d | 88 | int32_t i32_Jerk; |
lex9296 | 33:f77aa3ecf87d | 89 | |
lex9296 | 33:f77aa3ecf87d | 90 | // LA: Motion |
lex9296 | 33:f77aa3ecf87d | 91 | // ====== |
lex9296 | 26:bfca0c471a87 | 92 | // LA: Theory of Operation |
lex9296 | 26:bfca0c471a87 | 93 | // =================== |
lex9296 | 26:bfca0c471a87 | 94 | // |
lex9296 | 26:bfca0c471a87 | 95 | // Il PWM funziona da sè in Interrupt |
lex9296 | 26:bfca0c471a87 | 96 | // Il QEI funziona da sè in Interrupt |
lex9296 | 26:bfca0c471a87 | 97 | // 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 | 98 | // |
lex9296 | 26:bfca0c471a87 | 99 | // PQM |
lex9296 | 26:bfca0c471a87 | 100 | // |
lex9296 | 26:bfca0c471a87 | 101 | // Il rinfresco del Display e la gestione del motion vanno fatte il più frequentemente possibile ma fuori dal loop dei Ticker. |
lex9296 | 26:bfca0c471a87 | 102 | // Con qst versione (LA0005, che termina un FORK (il successivo è LA0010) quanto detto sopra è FUNZIONANTE. |
lex9296 | 26:bfca0c471a87 | 103 | // Questo messaggio è incluso nel "commitment" |
lex9296 | 26:bfca0c471a87 | 104 | |
GregCr | 0:9c0917bfde97 | 105 | /*! |
GregCr | 0:9c0917bfde97 | 106 | * \brief Define IO for Unused Pin |
GregCr | 0:9c0917bfde97 | 107 | */ |
lex9296 | 23:b9d23a2f390e | 108 | //DigitalOut F_CS (D6); // MBED description of pin |
lex9296 | 23:b9d23a2f390e | 109 | //DigitalOut SD_CS (D8); // MBED description of pin |
lex9296 | 23:b9d23a2f390e | 110 | |
lex9296 | 23:b9d23a2f390e | 111 | DigitalIn userButton (USER_BUTTON); |
lex9296 | 32:1be3d79ff4db | 112 | // |
lex9296 | 32:1be3d79ff4db | 113 | DigitalOut rENA_Off (PC_0); // CN7.38 - Power Enable Relay, Power Disabled when true |
lex9296 | 32:1be3d79ff4db | 114 | DigitalOut rDIR_FWD (PC_1); // CN7.36 - Move Direction Relay Bridge, Move FW(Extends) when true |
mverdy | 15:ed7ed20b7114 | 115 | |
lex9296 | 23:b9d23a2f390e | 116 | AnalogIn adc_temp (ADC_TEMP); |
lex9296 | 23:b9d23a2f390e | 117 | AnalogIn adc_vref (ADC_VREF); |
lex9296 | 23:b9d23a2f390e | 118 | AnalogIn adc_vbat (ADC_VBAT); |
GregCr | 0:9c0917bfde97 | 119 | |
lex9296 | 29:7ce8c5779f5e | 120 | AnalogIn ADC12_IN9 (PA_4); // STM32 PA4 |
lex9296 | 29:7ce8c5779f5e | 121 | AnalogIn ADC12_IN15 (PB_0); // STM32 PB0 |
lex9296 | 29:7ce8c5779f5e | 122 | |
lex9296 | 23:b9d23a2f390e | 123 | // PWM |
lex9296 | 23:b9d23a2f390e | 124 | // === |
lex9296 | 23:b9d23a2f390e | 125 | // |
lex9296 | 25:5fd2d69e2927 | 126 | PwmOut PWM_PB3(PWM_OUT); // LA: PWM_OUT = D3 = PB_3 |
mverdy | 14:ebd89dacc807 | 127 | |
lex9296 | 28:443c82750dd9 | 128 | // QEI |
lex9296 | 28:443c82750dd9 | 129 | // === |
lex9296 | 28:443c82750dd9 | 130 | // |
lex9296 | 28:443c82750dd9 | 131 | QEI Stabilus322699 (PA_1, PA_0, NC, 100, QEI::X4_ENCODING); |
lex9296 | 32:1be3d79ff4db | 132 | //DigitalIn Hall_A (PA_1); |
lex9296 | 32:1be3d79ff4db | 133 | //DigitalIn Hall_B (PA_0); |
lex9296 | 28:443c82750dd9 | 134 | |
lex9296 | 23:b9d23a2f390e | 135 | // Motion |
lex9296 | 23:b9d23a2f390e | 136 | // ====== |
lex9296 | 23:b9d23a2f390e | 137 | // |
lex9296 | 28:443c82750dd9 | 138 | //Ticker POS_MotionScan; // LA: Non uso un Ticker. Agisce sotto Interrupt e falsa la lettura QEI e la sincronicità del PWM |
lex9296 | 23:b9d23a2f390e | 139 | // |
lex9296 | 23:b9d23a2f390e | 140 | in_sPosizionatoreSW in_PosizionatoreSW; |
lex9296 | 23:b9d23a2f390e | 141 | out_sPosizionatoreSW out_PosizionatoreSW; |
GregCr | 0:9c0917bfde97 | 142 | |
lex9296 | 23:b9d23a2f390e | 143 | // LCD Display |
lex9296 | 23:b9d23a2f390e | 144 | // =========== |
lex9296 | 23:b9d23a2f390e | 145 | // |
lex9296 | 28:443c82750dd9 | 146 | //Ticker LCD_RefreshViews; // LA: Non uso un Ticker. Agisce sotto Interrupt e falsa la lettura QEI e la sincronicità del PWM |
mverdy | 15:ed7ed20b7114 | 147 | |
lex9296 | 22:12c555cade79 | 148 | void FactoryReset (void) { |
mverdy | 15:ed7ed20b7114 | 149 | EepromFactoryReset( ); |
mverdy | 15:ed7ed20b7114 | 150 | HAL_NVIC_SystemReset( ); |
mverdy | 15:ed7ed20b7114 | 151 | } |
lex9296 | 23:b9d23a2f390e | 152 | |
lex9296 | 23:b9d23a2f390e | 153 | // ======= |
lex9296 | 23:b9d23a2f390e | 154 | // ======= |
lex9296 | 23:b9d23a2f390e | 155 | // Main(s) |
lex9296 | 23:b9d23a2f390e | 156 | // ======= |
lex9296 | 23:b9d23a2f390e | 157 | // ======= |
lex9296 | 23:b9d23a2f390e | 158 | // |
lex9296 | 23:b9d23a2f390e | 159 | int main (void){ |
lex9296 | 28:443c82750dd9 | 160 | |
lex9296 | 32:1be3d79ff4db | 161 | rDIR_FWD = true; // LA: Actuator Extends |
lex9296 | 32:1be3d79ff4db | 162 | rENA_Off = true; // LA: Drive Power is Off |
lex9296 | 33:f77aa3ecf87d | 163 | // |
lex9296 | 33:f77aa3ecf87d | 164 | in_PosizionatoreSW.b_ServoLock = false; |
lex9296 | 33:f77aa3ecf87d | 165 | in_PosizionatoreSW.rtServoLock_Q = false; |
lex9296 | 28:443c82750dd9 | 166 | |
lex9296 | 23:b9d23a2f390e | 167 | EepromInit(); // LA: Inizializza la EEProm |
lex9296 | 23:b9d23a2f390e | 168 | TimersInit(); // LA: Parte il Timer a 1ms |
lex9296 | 23:b9d23a2f390e | 169 | |
lex9296 | 23:b9d23a2f390e | 170 | // LA: FactoryReset se "userButton" premuto all'avvio |
lex9296 | 23:b9d23a2f390e | 171 | // |
lex9296 | 23:b9d23a2f390e | 172 | if (userButton == 0) { |
lex9296 | 23:b9d23a2f390e | 173 | FactoryReset(); |
lex9296 | 23:b9d23a2f390e | 174 | } |
lex9296 | 28:443c82750dd9 | 175 | DisplayDriverInit(); |
lex9296 | 23:b9d23a2f390e | 176 | |
lex9296 | 33:f77aa3ecf87d | 177 | // SampleTimer.attach_us(&SampleAndStore, 250); // LA: Scope has its own times |
lex9296 | 33:f77aa3ecf87d | 178 | SampleTimer.attach(&SampleAndStore, cf_SCOPeriod_s); // LA: Avvia l'OscilloScopio con TimeBase x [s] |
lex9296 | 33:f77aa3ecf87d | 179 | MotionTimer.attach(&MotionHandler, cf_MOTPeriod_s); // LA: Avvia il Motion con TimeBase x [s] |
lex9296 | 33:f77aa3ecf87d | 180 | PWM_PB3.period(cf_PWMPeriod_s); // LA: Avvia il PWM con TimeBase x [s] |
lex9296 | 33:f77aa3ecf87d | 181 | PWM_PB3.write((float) 0.0); // Set to 0% |
lex9296 | 23:b9d23a2f390e | 182 | |
lex9296 | 23:b9d23a2f390e | 183 | // LA: Motion (1st) Setup |
lex9296 | 23:b9d23a2f390e | 184 | // |
lex9296 | 28:443c82750dd9 | 185 | in_PosizionatoreSW.b_AxisPowered = true; |
lex9296 | 28:443c82750dd9 | 186 | in_PosizionatoreSW.b_ACPos_Homed = true; |
lex9296 | 23:b9d23a2f390e | 187 | in_PosizionatoreSW.i32_Max_Speed = 1024; // [ui] |
lex9296 | 23:b9d23a2f390e | 188 | in_PosizionatoreSW.i32_ZeroSpeed = 0; // |
lex9296 | 23:b9d23a2f390e | 189 | |
lex9296 | 32:1be3d79ff4db | 190 | // POS Mode |
lex9296 | 32:1be3d79ff4db | 191 | // ======== |
lex9296 | 32:1be3d79ff4db | 192 | // |
lex9296 | 33:f77aa3ecf87d | 193 | // in_PosizionatoreSW.b_ServoLock = true; |
lex9296 | 33:f77aa3ecf87d | 194 | // in_PosizionatoreSW.rtServoLock_Q = false; |
lex9296 | 32:1be3d79ff4db | 195 | // |
lex9296 | 33:f77aa3ecf87d | 196 | in_PosizionatoreSW.i64_TargetPosition = ci64_TargetPOS; // [ui] |
lex9296 | 32:1be3d79ff4db | 197 | in_PosizionatoreSW.i64_ActualPosition = Stabilus322699.getPulses(); // |
lex9296 | 33:f77aa3ecf87d | 198 | // in_PosizionatoreSW.i64_AccelerationWindow = 32; // LA: Spazio concesso all'accelerazione. |
lex9296 | 33:f77aa3ecf87d | 199 | // in_PosizionatoreSW.i64_DecelerationWindow = 256; // Spazio concesso alla decelerazione, è prioritario rispetto all'accelerazione. |
lex9296 | 33:f77aa3ecf87d | 200 | in_PosizionatoreSW.i64_AccelerationWindow = 2048; // LA: Spazio concesso all'accelerazione. |
lex9296 | 33:f77aa3ecf87d | 201 | in_PosizionatoreSW.i64_DecelerationWindow = 2048; // Spazio concesso alla decelerazione, è prioritario rispetto all'accelerazione. |
lex9296 | 33:f77aa3ecf87d | 202 | in_PosizionatoreSW.i64_diToleranceWindow = 16; // Finestra di Tolleranza |
lex9296 | 32:1be3d79ff4db | 203 | // |
lex9296 | 32:1be3d79ff4db | 204 | in_PosizionatoreSW.f_MaximumSpeed_x100_FW = 16.0; // % of "i32_Max_Speed" |
lex9296 | 32:1be3d79ff4db | 205 | in_PosizionatoreSW.f_MaximumSpeed_x100_BW = 60.0; // |
lex9296 | 33:f77aa3ecf87d | 206 | // in_PosizionatoreSW.f_ServoLockSpeed_x100_FW = 4.8; // Riferimento di velocità minima a cui (appena) si muove l'asse [verso FW] |
lex9296 | 33:f77aa3ecf87d | 207 | // in_PosizionatoreSW.f_ServoLockSpeed_x100_BW = 18.0; // Riferimento di velocità minima a cui (appena) si muove l'asse [verso BW] |
lex9296 | 33:f77aa3ecf87d | 208 | in_PosizionatoreSW.f_ServoLockSpeed_x100_FW = 5.2; // Riferimento di velocità minima a cui (appena) si muove l'asse [verso FW] |
lex9296 | 33:f77aa3ecf87d | 209 | // in_PosizionatoreSW.f_ServoLockSpeed_x100_FW = 4.8; // Riferimento di velocità minima a cui (appena) si muove l'asse [verso FW] |
lex9296 | 33:f77aa3ecf87d | 210 | in_PosizionatoreSW.f_ServoLockSpeed_x100_BW = 22.0; // Riferimento di velocità minima a cui (appena) si muove l'asse [verso BW] |
lex9296 | 32:1be3d79ff4db | 211 | |
lex9296 | 32:1be3d79ff4db | 212 | // JOG Mode |
lex9296 | 32:1be3d79ff4db | 213 | // ======== |
lex9296 | 32:1be3d79ff4db | 214 | // |
lex9296 | 23:b9d23a2f390e | 215 | in_PosizionatoreSW.b_JogMode = false; |
lex9296 | 23:b9d23a2f390e | 216 | in_PosizionatoreSW.b_JogFW = false; |
lex9296 | 23:b9d23a2f390e | 217 | in_PosizionatoreSW.b_JogBW = false; |
lex9296 | 23:b9d23a2f390e | 218 | in_PosizionatoreSW.i32_JogAccel_ms = 500; // [ms] |
lex9296 | 23:b9d23a2f390e | 219 | in_PosizionatoreSW.i32_JogDecel_ms = 250; // |
lex9296 | 23:b9d23a2f390e | 220 | // |
lex9296 | 32:1be3d79ff4db | 221 | 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 | 222 | in_PosizionatoreSW.f_JogSpeed_x100_BW = (in_PosizionatoreSW.f_MaximumSpeed_x100_BW/ 2); // |
lex9296 | 23:b9d23a2f390e | 223 | |
lex9296 | 28:443c82750dd9 | 224 | // LA: Color RGB Component(s) |
lex9296 | 28:443c82750dd9 | 225 | // ====================== |
lex9296 | 28:443c82750dd9 | 226 | // |
lex9296 | 28:443c82750dd9 | 227 | // RED 0000 1000 0000 0000 min 0x0800 02048 |
lex9296 | 28:443c82750dd9 | 228 | // 1111 1000 0000 0000 max 0xf800 63488 |
lex9296 | 28:443c82750dd9 | 229 | // |
lex9296 | 28:443c82750dd9 | 230 | // GREEN 0000 0000 0010 0000 min 0x0020 00032 |
lex9296 | 28:443c82750dd9 | 231 | // 0000 0111 1110 0000 max 0x07e0 02016 |
lex9296 | 28:443c82750dd9 | 232 | // |
lex9296 | 28:443c82750dd9 | 233 | // BLUE 0000 0000 0000 0001 min 0x0001 00001 |
lex9296 | 28:443c82750dd9 | 234 | // 0000 0000 0001 1111 max 0x001f 00031 |
lex9296 | 28:443c82750dd9 | 235 | // |
lex9296 | 28:443c82750dd9 | 236 | // La componente ROSSA ha 5 bit di escursione (0.. 31), |
lex9296 | 28:443c82750dd9 | 237 | // La componente VERDE ha 6 bit di escursione (0.. 63), |
lex9296 | 28:443c82750dd9 | 238 | // La componente BLU ha 5 bit di escursione (0.. 31), |
lex9296 | 28:443c82750dd9 | 239 | // |
lex9296 | 28:443c82750dd9 | 240 | // Le componenti RGB di "Color" sono quindi scritte negli appropriati registri come segue: |
lex9296 | 28:443c82750dd9 | 241 | // |
lex9296 | 28:443c82750dd9 | 242 | // writeReg(RED, (Color & 0xf800) >> 11); |
lex9296 | 28:443c82750dd9 | 243 | // writeReg(GREEN, (Color & 0x07e0) >> 5); |
lex9296 | 28:443c82750dd9 | 244 | // writeReg(BLUE, (Color & 0x001f)); |
lex9296 | 28:443c82750dd9 | 245 | // |
lex9296 | 32:1be3d79ff4db | 246 | LCM_SetTextColor(Scale2RGBColor (0, 0, 0), Scale2RGBColor (31, 0, 0)); // LA: Red on Black |
lex9296 | 32:1be3d79ff4db | 247 | LCM_ClearScreen (Scale2RGBColor (0, 0, 0)); // Black Background |
lex9296 | 32:1be3d79ff4db | 248 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 0), "You Start Me Up ..."); // Intro Text |
lex9296 | 23:b9d23a2f390e | 249 | |
lex9296 | 32:1be3d79ff4db | 250 | // rDIR_FWD = false; // Collapse |
lex9296 | 32:1be3d79ff4db | 251 | // rENA_Off = false; // Power On |
lex9296 | 32:1be3d79ff4db | 252 | |
lex9296 | 32:1be3d79ff4db | 253 | in_PosizionatoreSW.b_ServoLock = true; |
lex9296 | 32:1be3d79ff4db | 254 | in_PosizionatoreSW.rtServoLock_Q = true; |
lex9296 | 28:443c82750dd9 | 255 | |
lex9296 | 28:443c82750dd9 | 256 | while (1) { |
lex9296 | 29:7ce8c5779f5e | 257 | |
lex9296 | 29:7ce8c5779f5e | 258 | // LA: Scope, Theory of operation. |
lex9296 | 29:7ce8c5779f5e | 259 | // =========================== |
lex9296 | 29:7ce8c5779f5e | 260 | // |
lex9296 | 29:7ce8c5779f5e | 261 | // 1) Sample a Value @ any Step |
lex9296 | 29:7ce8c5779f5e | 262 | // 2) Store @ the correct ms |
lex9296 | 29:7ce8c5779f5e | 263 | // 3) Plot the current Section of the Sampling Vector |
lex9296 | 29:7ce8c5779f5e | 264 | // |
lex9296 | 32:1be3d79ff4db | 265 | LCM_ShowTactics ( |
lex9296 | 32:1be3d79ff4db | 266 | Stabilus322699.getPulses(), // Row 1 |
lex9296 | 29:7ce8c5779f5e | 267 | |
lex9296 | 32:1be3d79ff4db | 268 | out_PosizionatoreSW.i32_ATVSpeed, // 3 |
lex9296 | 32:1be3d79ff4db | 269 | adc_temp.read(), // 4 |
lex9296 | 32:1be3d79ff4db | 270 | adc_vbat.read(), // 5 |
lex9296 | 32:1be3d79ff4db | 271 | adc_vref.read(), // 6 |
lex9296 | 32:1be3d79ff4db | 272 | |
lex9296 | 32:1be3d79ff4db | 273 | ADC12_IN9.read(), // 8 |
lex9296 | 32:1be3d79ff4db | 274 | ADC12_IN15.read(), // 9 |
lex9296 | 33:f77aa3ecf87d | 275 | (f_PWMPercent* 100), // 10 |
lex9296 | 33:f77aa3ecf87d | 276 | |
lex9296 | 33:f77aa3ecf87d | 277 | i32_Velocity, // 11 |
lex9296 | 33:f77aa3ecf87d | 278 | i32_Acceleration, // 12 |
lex9296 | 33:f77aa3ecf87d | 279 | i32_Jerk // 13 |
lex9296 | 33:f77aa3ecf87d | 280 | |
lex9296 | 32:1be3d79ff4db | 281 | ); |
lex9296 | 32:1be3d79ff4db | 282 | |
lex9296 | 33:f77aa3ecf87d | 283 | LCM_PlotScope ( |
lex9296 | 32:1be3d79ff4db | 284 | Scale2RGBColor (0, 0, 0), // Back: Black |
lex9296 | 32:1be3d79ff4db | 285 | Scale2RGBColor (31, 0, 0) // Fore: Red |
lex9296 | 32:1be3d79ff4db | 286 | ); |
lex9296 | 32:1be3d79ff4db | 287 | |
lex9296 | 33:f77aa3ecf87d | 288 | LCM_PlotSpeed ( |
lex9296 | 33:f77aa3ecf87d | 289 | Scale2RGBColor (0, 0, 0), // Back: Black |
lex9296 | 33:f77aa3ecf87d | 290 | Scale2RGBColor (31, 0, 0) // Fore: Red |
lex9296 | 33:f77aa3ecf87d | 291 | ); |
lex9296 | 32:1be3d79ff4db | 292 | |
lex9296 | 32:1be3d79ff4db | 293 | if (out_PosizionatoreSW.b_InPosition) |
lex9296 | 32:1be3d79ff4db | 294 | if (in_PosizionatoreSW.i64_TargetPosition > 0) |
lex9296 | 32:1be3d79ff4db | 295 | in_PosizionatoreSW.i64_TargetPosition = 0; |
lex9296 | 32:1be3d79ff4db | 296 | else |
lex9296 | 33:f77aa3ecf87d | 297 | in_PosizionatoreSW.i64_TargetPosition = ci64_TargetPOS; |
lex9296 | 28:443c82750dd9 | 298 | } |
lex9296 | 28:443c82750dd9 | 299 | } |
lex9296 | 28:443c82750dd9 | 300 | |
lex9296 | 32:1be3d79ff4db | 301 | void LCM_ShowTactics( |
lex9296 | 33:f77aa3ecf87d | 302 | int64_t i64_Pulses, |
lex9296 | 32:1be3d79ff4db | 303 | int32_t i32_ATVSpeed, |
lex9296 | 33:f77aa3ecf87d | 304 | // |
lex9296 | 33:f77aa3ecf87d | 305 | float f_ai0000_Aux, |
lex9296 | 33:f77aa3ecf87d | 306 | float f_ai0001_Aux, |
lex9296 | 33:f77aa3ecf87d | 307 | float f_ai0002_Aux, |
lex9296 | 33:f77aa3ecf87d | 308 | float f_ai0003_Aux, |
lex9296 | 33:f77aa3ecf87d | 309 | float f_ai0004_Aux, |
lex9296 | 33:f77aa3ecf87d | 310 | float f_ai0005_Aux, |
lex9296 | 33:f77aa3ecf87d | 311 | // |
lex9296 | 33:f77aa3ecf87d | 312 | int32_t i32_Velocity, |
lex9296 | 33:f77aa3ecf87d | 313 | int32_t i32_Acceleration, |
lex9296 | 33:f77aa3ecf87d | 314 | int32_t i32_Jerk |
lex9296 | 32:1be3d79ff4db | 315 | ) { |
lex9296 | 32:1be3d79ff4db | 316 | |
lex9296 | 32:1be3d79ff4db | 317 | char StringText[MAX_CHAR_PER_LINE+ 1]; // don't forget the /0 (end of string) |
lex9296 | 32:1be3d79ff4db | 318 | |
lex9296 | 33:f77aa3ecf87d | 319 | static int64_t i64_Pulses_Prec; |
lex9296 | 32:1be3d79ff4db | 320 | static uint32_t ms_0002_prec; |
lex9296 | 32:1be3d79ff4db | 321 | |
lex9296 | 32:1be3d79ff4db | 322 | static float f_ai0000_prec; |
lex9296 | 32:1be3d79ff4db | 323 | static float f_ai0001_prec; |
lex9296 | 32:1be3d79ff4db | 324 | static float f_ai0002_prec; |
lex9296 | 32:1be3d79ff4db | 325 | static float f_ai0003_prec; |
lex9296 | 32:1be3d79ff4db | 326 | static float f_ai0004_prec; |
lex9296 | 32:1be3d79ff4db | 327 | static float f_ai0005_prec; |
lex9296 | 32:1be3d79ff4db | 328 | |
lex9296 | 33:f77aa3ecf87d | 329 | static uint32_t i32_Velocity_prec; |
lex9296 | 33:f77aa3ecf87d | 330 | static uint32_t i32_Acceleration_prec; |
lex9296 | 33:f77aa3ecf87d | 331 | static uint32_t i32_Jerk_prec; |
lex9296 | 33:f77aa3ecf87d | 332 | |
lex9296 | 33:f77aa3ecf87d | 333 | if (i64_Pulses != i64_Pulses_Prec) { |
lex9296 | 32:1be3d79ff4db | 334 | sprintf (StringText, |
lex9296 | 33:f77aa3ecf87d | 335 | "Pulses: %d ", (int32_t)i64_Pulses); |
lex9296 | 32:1be3d79ff4db | 336 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 1), StringText); |
lex9296 | 33:f77aa3ecf87d | 337 | i64_Pulses_Prec = i64_Pulses; |
lex9296 | 32:1be3d79ff4db | 338 | } |
lex9296 | 32:1be3d79ff4db | 339 | |
lex9296 | 33:f77aa3ecf87d | 340 | /* |
lex9296 | 32:1be3d79ff4db | 341 | if (i32_ATVSpeed != ms_0002_prec) { |
lex9296 | 32:1be3d79ff4db | 342 | sprintf (StringText, |
lex9296 | 32:1be3d79ff4db | 343 | "Speed[ui]: %d ", i32_ATVSpeed); |
lex9296 | 32:1be3d79ff4db | 344 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 3), StringText); |
lex9296 | 32:1be3d79ff4db | 345 | ms_0002_prec = i32_ATVSpeed; |
lex9296 | 32:1be3d79ff4db | 346 | } |
lex9296 | 32:1be3d79ff4db | 347 | |
lex9296 | 32:1be3d79ff4db | 348 | if (f_ai0000_Aux != f_ai0000_prec) { |
lex9296 | 32:1be3d79ff4db | 349 | sprintf (StringText, |
lex9296 | 32:1be3d79ff4db | 350 | "ADC Temp = %f ", (f_ai0000_Aux* 100)); |
lex9296 | 32:1be3d79ff4db | 351 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 4), StringText); |
lex9296 | 32:1be3d79ff4db | 352 | f_ai0000_prec = f_ai0000_Aux; |
lex9296 | 32:1be3d79ff4db | 353 | } |
lex9296 | 32:1be3d79ff4db | 354 | |
lex9296 | 32:1be3d79ff4db | 355 | if (f_ai0001_Aux != f_ai0001_prec) { |
lex9296 | 32:1be3d79ff4db | 356 | sprintf (StringText, |
lex9296 | 32:1be3d79ff4db | 357 | "ADC VBat = %f ", (f_ai0001_Aux* 10)); |
lex9296 | 32:1be3d79ff4db | 358 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 5), StringText); |
lex9296 | 32:1be3d79ff4db | 359 | f_ai0001_prec = f_ai0001_Aux; |
lex9296 | 32:1be3d79ff4db | 360 | } |
lex9296 | 32:1be3d79ff4db | 361 | |
lex9296 | 32:1be3d79ff4db | 362 | if (f_ai0002_Aux != f_ai0002_prec) { |
lex9296 | 32:1be3d79ff4db | 363 | sprintf (StringText, |
lex9296 | 32:1be3d79ff4db | 364 | "ADC VRef = %f ", (f_ai0002_Aux* 10)); |
lex9296 | 32:1be3d79ff4db | 365 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 6), StringText); |
lex9296 | 32:1be3d79ff4db | 366 | f_ai0002_prec = f_ai0002_Aux; |
lex9296 | 32:1be3d79ff4db | 367 | } |
lex9296 | 32:1be3d79ff4db | 368 | |
lex9296 | 32:1be3d79ff4db | 369 | if (f_ai0003_Aux != f_ai0003_prec) { |
lex9296 | 32:1be3d79ff4db | 370 | sprintf (StringText, |
lex9296 | 32:1be3d79ff4db | 371 | "ADC12.09 = %f ", (f_ai0003_Aux* 10)/ 3); |
lex9296 | 32:1be3d79ff4db | 372 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 8), StringText); |
lex9296 | 32:1be3d79ff4db | 373 | f_ai0003_prec = f_ai0003_Aux; |
lex9296 | 32:1be3d79ff4db | 374 | } |
lex9296 | 32:1be3d79ff4db | 375 | |
lex9296 | 32:1be3d79ff4db | 376 | if (f_ai0004_Aux != f_ai0004_prec) { |
lex9296 | 32:1be3d79ff4db | 377 | sprintf (StringText, |
lex9296 | 32:1be3d79ff4db | 378 | "ADC12.15 = %f ", (f_ai0004_Aux* 10)/ 3); |
lex9296 | 32:1be3d79ff4db | 379 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 9), StringText); |
lex9296 | 32:1be3d79ff4db | 380 | f_ai0004_prec = f_ai0004_Aux; |
lex9296 | 32:1be3d79ff4db | 381 | } |
lex9296 | 32:1be3d79ff4db | 382 | |
lex9296 | 32:1be3d79ff4db | 383 | if (f_ai0005_Aux != f_ai0005_prec) { |
lex9296 | 32:1be3d79ff4db | 384 | sprintf (StringText, |
lex9296 | 32:1be3d79ff4db | 385 | "PB3 PWM%% = %f ", (f_ai0005_Aux)); |
lex9296 | 32:1be3d79ff4db | 386 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 10), StringText); |
lex9296 | 32:1be3d79ff4db | 387 | f_ai0005_prec = f_ai0005_Aux; |
lex9296 | 32:1be3d79ff4db | 388 | } |
lex9296 | 33:f77aa3ecf87d | 389 | */ |
lex9296 | 33:f77aa3ecf87d | 390 | if (i32_Velocity != i32_Velocity_prec) { |
lex9296 | 33:f77aa3ecf87d | 391 | sprintf (StringText, |
lex9296 | 33:f77aa3ecf87d | 392 | "Vel[ui/10ms]: %d ", i32_Velocity); //, fVelocity); |
lex9296 | 33:f77aa3ecf87d | 393 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 11), StringText); |
lex9296 | 33:f77aa3ecf87d | 394 | i32_Velocity_prec = i32_Velocity; |
lex9296 | 33:f77aa3ecf87d | 395 | } |
lex9296 | 33:f77aa3ecf87d | 396 | if (i32_Acceleration != i32_Acceleration_prec) { |
lex9296 | 33:f77aa3ecf87d | 397 | sprintf (StringText, |
lex9296 | 33:f77aa3ecf87d | 398 | "Acc[ui/10ms^2]: %d ", i32_Acceleration); //, fAcceleration); |
lex9296 | 33:f77aa3ecf87d | 399 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 12), StringText); |
lex9296 | 33:f77aa3ecf87d | 400 | i32_Acceleration_prec = i32_Acceleration; |
lex9296 | 33:f77aa3ecf87d | 401 | } |
lex9296 | 33:f77aa3ecf87d | 402 | if (i32_Jerk != i32_Jerk_prec) { |
lex9296 | 33:f77aa3ecf87d | 403 | sprintf (StringText, |
lex9296 | 33:f77aa3ecf87d | 404 | "Jerk: %d ", i32_Jerk); //, fJerk); |
lex9296 | 33:f77aa3ecf87d | 405 | LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 13), StringText); |
lex9296 | 33:f77aa3ecf87d | 406 | i32_Jerk_prec = i32_Jerk; |
lex9296 | 33:f77aa3ecf87d | 407 | } |
lex9296 | 32:1be3d79ff4db | 408 | } |
lex9296 | 32:1be3d79ff4db | 409 | |
lex9296 | 33:f77aa3ecf87d | 410 | static void SampleAndStore (void) { |
lex9296 | 29:7ce8c5779f5e | 411 | int16_t i16_SampleIndex; |
lex9296 | 33:f77aa3ecf87d | 412 | int64_t i64_SampleIndex; |
lex9296 | 29:7ce8c5779f5e | 413 | |
lex9296 | 32:1be3d79ff4db | 414 | // af_PlotSamples[240- 1] = ADC12_IN9.read(); |
lex9296 | 32:1be3d79ff4db | 415 | af_PlotSamples[240- 1] = (float) Stabilus322699.getChannelA() * 0.33f; |
lex9296 | 32:1be3d79ff4db | 416 | |
lex9296 | 32:1be3d79ff4db | 417 | for (i16_SampleIndex = 0; i16_SampleIndex < (240- 1); i16_SampleIndex++) |
lex9296 | 29:7ce8c5779f5e | 418 | af_PlotSamples[i16_SampleIndex] = af_PlotSamples[i16_SampleIndex+ 1]; |
lex9296 | 29:7ce8c5779f5e | 419 | |
lex9296 | 33:f77aa3ecf87d | 420 | // LA: Position's Graph Section |
lex9296 | 33:f77aa3ecf87d | 421 | // ======================== |
lex9296 | 33:f77aa3ecf87d | 422 | // |
lex9296 | 33:f77aa3ecf87d | 423 | i64_SampleIndex = Stabilus322699.getPulses(); |
lex9296 | 33:f77aa3ecf87d | 424 | ai32_POS2VelGraph[i64_SampleIndex] = i32_Velocity; |
lex9296 | 33:f77aa3ecf87d | 425 | ai32_POS2AccGraph[i64_SampleIndex] = i32_Acceleration; |
lex9296 | 33:f77aa3ecf87d | 426 | ai32_POS2JrkGraph[i64_SampleIndex] = i32_Jerk; |
lex9296 | 29:7ce8c5779f5e | 427 | } |
lex9296 | 29:7ce8c5779f5e | 428 | |
lex9296 | 33:f77aa3ecf87d | 429 | static void MotionHandler (void) { |
lex9296 | 33:f77aa3ecf87d | 430 | static int16_t i16_Index = 0; |
lex9296 | 33:f77aa3ecf87d | 431 | |
lex9296 | 33:f77aa3ecf87d | 432 | // LA: Retrieve Actual Position |
lex9296 | 33:f77aa3ecf87d | 433 | // |
lex9296 | 33:f77aa3ecf87d | 434 | in_PosizionatoreSW.i64_ActualPosition = Stabilus322699.getPulses(); |
lex9296 | 33:f77aa3ecf87d | 435 | |
lex9296 | 33:f77aa3ecf87d | 436 | // LA: Execute Motion |
lex9296 | 33:f77aa3ecf87d | 437 | // |
lex9296 | 33:f77aa3ecf87d | 438 | PosizionatoreSW (in_PosizionatoreSW, out_PosizionatoreSW); |
lex9296 | 33:f77aa3ecf87d | 439 | in_PosizionatoreSW.rtServoLock_Q = false; |
lex9296 | 33:f77aa3ecf87d | 440 | |
lex9296 | 33:f77aa3ecf87d | 441 | // LA: Handle PostServo |
lex9296 | 33:f77aa3ecf87d | 442 | // |
lex9296 | 33:f77aa3ecf87d | 443 | |
lex9296 | 33:f77aa3ecf87d | 444 | // int64_t i64_StartPosition; |
lex9296 | 33:f77aa3ecf87d | 445 | // int64_t i64_Distance; |
lex9296 | 33:f77aa3ecf87d | 446 | // bool b_Accelerating; // LA: bACPos_Accelerating |
lex9296 | 33:f77aa3ecf87d | 447 | // bool b_MaxSpeedReached; |
lex9296 | 33:f77aa3ecf87d | 448 | // bool b_Decelerating; // bACPos_Decelerating |
lex9296 | 33:f77aa3ecf87d | 449 | // bool b_InPosition; |
lex9296 | 33:f77aa3ecf87d | 450 | // bool b_InToleranceFW; |
lex9296 | 33:f77aa3ecf87d | 451 | // bool b_InToleranceBW; |
lex9296 | 33:f77aa3ecf87d | 452 | |
lex9296 | 33:f77aa3ecf87d | 453 | // int32_t i32_ATVSpeed; |
lex9296 | 33:f77aa3ecf87d | 454 | f_PWMPercent = ((float)out_PosizionatoreSW.i32_ATVSpeed)/ (float)in_PosizionatoreSW.i32_Max_Speed; // LA: In Range (float) 0.. 1 |
lex9296 | 33:f77aa3ecf87d | 455 | PWM_PB3.write((float) 1.0- f_PWMPercent); // Set to x% |
lex9296 | 33:f77aa3ecf87d | 456 | |
lex9296 | 33:f77aa3ecf87d | 457 | // bool b_ATVDirectionFW; |
lex9296 | 33:f77aa3ecf87d | 458 | rDIR_FWD = out_PosizionatoreSW.b_ATVDirectionFW; |
lex9296 | 33:f77aa3ecf87d | 459 | |
lex9296 | 33:f77aa3ecf87d | 460 | // bool b_ATVDirectionBW; |
lex9296 | 33:f77aa3ecf87d | 461 | |
lex9296 | 33:f77aa3ecf87d | 462 | // bool b_STW1_On; |
lex9296 | 33:f77aa3ecf87d | 463 | // bool b_STW1_NoCStop; |
lex9296 | 33:f77aa3ecf87d | 464 | // bool b_STW1_NoQStop; |
lex9296 | 33:f77aa3ecf87d | 465 | // bool b_STW1_Enable; |
lex9296 | 33:f77aa3ecf87d | 466 | rENA_Off = !out_PosizionatoreSW.b_STW1_Enable; |
lex9296 | 33:f77aa3ecf87d | 467 | |
lex9296 | 33:f77aa3ecf87d | 468 | // LA: Update Motion Dynamic References |
lex9296 | 33:f77aa3ecf87d | 469 | // ================================ |
lex9296 | 33:f77aa3ecf87d | 470 | // |
lex9296 | 33:f77aa3ecf87d | 471 | // Per avere maggiore granularità delle misure, l'acquisizione viene fatta ogni 10 interventi |
lex9296 | 33:f77aa3ecf87d | 472 | // Se il motion gira a 10ms, i riferimenti dinamici saranno calcolati ogni 100 |
lex9296 | 33:f77aa3ecf87d | 473 | // |
lex9296 | 33:f77aa3ecf87d | 474 | if (i16_Index == 0) { |
lex9296 | 33:f77aa3ecf87d | 475 | static uint32_t ui32_PreviousStep_ms; |
lex9296 | 33:f77aa3ecf87d | 476 | uint32_t ui32_ActualStepSampled_ms; |
lex9296 | 33:f77aa3ecf87d | 477 | uint32_t ui32_PassedActual_ms; |
lex9296 | 33:f77aa3ecf87d | 478 | // |
lex9296 | 33:f77aa3ecf87d | 479 | float fPassedActual_sxs; |
lex9296 | 33:f77aa3ecf87d | 480 | |
lex9296 | 33:f77aa3ecf87d | 481 | // LA: Generazione del millisecondo Attuale |
lex9296 | 33:f77aa3ecf87d | 482 | // ==================================== |
lex9296 | 33:f77aa3ecf87d | 483 | // |
lex9296 | 33:f77aa3ecf87d | 484 | // Invoca il timer di sistema (TimersTimerValue) e lo confronta col suo precedente. |
lex9296 | 33:f77aa3ecf87d | 485 | // Una volta elaborato e "scevrato" l'eventuale "Rollover" la sezione ritorna "ui32_PassedActual_ms_Local". |
lex9296 | 33:f77aa3ecf87d | 486 | // "ui32_PassedActual_ms_Local" rappresenta i [ms] passati tra una istanza e l'altra |
lex9296 | 33:f77aa3ecf87d | 487 | // |
lex9296 | 33:f77aa3ecf87d | 488 | ui32_ActualStepSampled_ms = TimersTimerValue(); // Freezes the Actual Sample. |
lex9296 | 33:f77aa3ecf87d | 489 | if (ui32_ActualStepSampled_ms >= ui32_PreviousStep_ms) |
lex9296 | 33:f77aa3ecf87d | 490 | ui32_PassedActual_ms = (ui32_ActualStepSampled_ms- ui32_PreviousStep_ms); // Result => Actual- Previous |
lex9296 | 33:f77aa3ecf87d | 491 | else |
lex9296 | 33:f77aa3ecf87d | 492 | ui32_PassedActual_ms = ui32_ActualStepSampled_ms+ (0x7fffffff- ui32_PreviousStep_ms); // Result => Actual+ (Rollover- Previous) |
lex9296 | 33:f77aa3ecf87d | 493 | ui32_PreviousStep_ms = ui32_ActualStepSampled_ms; // Store(s)&Hold(s) actual msSample |
lex9296 | 33:f77aa3ecf87d | 494 | fPassedActual_sxs = ((float) 1000.0/ (float) ui32_PassedActual_ms); // Steps Any [s] |
lex9296 | 33:f77aa3ecf87d | 495 | |
lex9296 | 33:f77aa3ecf87d | 496 | i32_Velocity = (int32_t) (in_PosizionatoreSW.i64_ActualPosition- i64_Position_Prec); // LA: Velocity in [ui/10ms] |
lex9296 | 33:f77aa3ecf87d | 497 | i64_Position_Prec = in_PosizionatoreSW.i64_ActualPosition; |
lex9296 | 33:f77aa3ecf87d | 498 | i32_Acceleration = (i32_Velocity- i32_Velocity_Prec); // LA: Acceleration in [ui/10ms^2] |
lex9296 | 33:f77aa3ecf87d | 499 | i32_Velocity_Prec = i32_Velocity; |
lex9296 | 33:f77aa3ecf87d | 500 | i32_Jerk = (i32_Acceleration- i32_Acceleration_Prec); // LA: Jerk |
lex9296 | 33:f77aa3ecf87d | 501 | i32_Acceleration_Prec = i32_Acceleration; |
lex9296 | 33:f77aa3ecf87d | 502 | |
lex9296 | 33:f77aa3ecf87d | 503 | fVelocity = (float) i32_Velocity * fPassedActual_sxs; // Velocity in [ui/s] |
lex9296 | 33:f77aa3ecf87d | 504 | fAcceleration = (float) i32_Acceleration * fPassedActual_sxs; // Acceleration in [ui/s^2] |
lex9296 | 33:f77aa3ecf87d | 505 | fJerk = (float) i32_Jerk * fPassedActual_sxs; // Jerk |
lex9296 | 33:f77aa3ecf87d | 506 | } |
lex9296 | 33:f77aa3ecf87d | 507 | i16_Index++; |
lex9296 | 33:f77aa3ecf87d | 508 | if (i16_Index >= 10) |
lex9296 | 33:f77aa3ecf87d | 509 | i16_Index = 0; |
lex9296 | 33:f77aa3ecf87d | 510 | |
lex9296 | 33:f77aa3ecf87d | 511 | /* |
lex9296 | 33:f77aa3ecf87d | 512 | // LA: Position's Graph Section |
lex9296 | 33:f77aa3ecf87d | 513 | // ======================== |
lex9296 | 33:f77aa3ecf87d | 514 | // |
lex9296 | 33:f77aa3ecf87d | 515 | ai32_POS2VelGraph[in_PosizionatoreSW.i64_ActualPosition] = i32_Velocity; |
lex9296 | 33:f77aa3ecf87d | 516 | ai32_POS2AccGraph[in_PosizionatoreSW.i64_ActualPosition] = i32_Acceleration; |
lex9296 | 33:f77aa3ecf87d | 517 | ai32_POS2JrkGraph[in_PosizionatoreSW.i64_ActualPosition] = i32_Jerk; |
lex9296 | 33:f77aa3ecf87d | 518 | */ |
lex9296 | 33:f77aa3ecf87d | 519 | } |