lee sanghun
test4
Dependencies: mbed BufferedSerial LS7366LIB2 FastPWM
Diff: button.h
- Revision:
- 1:7b5469bf5994
- Parent:
- 0:7cff999a7f5c
--- a/button.h Mon May 11 08:47:18 2020 +0000
+++ b/button.h Mon Jul 27 23:29:30 2020 +0000
@@ -4,15 +4,19 @@
#include "MCP23S17.h"
#include "7_segment.h"
-#define BUTTON_DELAY 50 // 75ms
-#define BUTTON_FAST_LIMIT 45
-#define FLASH_SAVE_DELAY 3000 // 400000, 10min
+#define BUTTON_DELAY 60 // 75ms
+#define BUTTON_FAST_LIMIT 50
+#define FLASH_SAVE_DELAY 3333 // 3333, 5 sec
+#define PGAIN_CORRETION_FACTOR 0.4
+
void reset_speed_pid();
void button_pid_info();
bool menual_mode=false;
bool set_mode = false;
+bool set_cmd_togle = false;
uint8_t set_command = 0;
+uint16_t set_cmd_delay = 200;
uint16_t axis_button=0x0fff;
uint32_t axis_cmd_print_delay = 0;
uint8_t btn1_push_check[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
@@ -46,41 +50,63 @@
void Button_Init()
{
- insert_pgain = Convert_double_Pgain(Button_Read_Flash(0));
- insert_input = Convert_double_Igain(Button_Read_Flash(4));
-
- //printf("fisrt Gain pgain : %f, input : %f\r\n", insert_pgain, insert_input);
-
- for(int i = 1; i < 7; i++)
+ if (Button_Read_Flash(0) != 0xFFFFFFFF)
{
- set_data[i * 10 + 2] = insert_pgain;
- position_Pgain[i-1] = insert_pgain;
- }
- for(int i = 1; i < 7; i++)
- {
- set_data[i * 10 + 3] = insert_input;
- Position_input_filter[i-1] = insert_input;
- }
-
- if(insert_pgain != 0xFFFFFFFF)
- {
+ insert_pgain = Convert_double_Pgain(Button_Read_Flash(0));
+ insert_pgain *= PGAIN_CORRETION_FACTOR;
+
+ for (int i = 1; i < 7; i++)
+ {
+ set_data[i * 10 + 2] = insert_pgain;
+ position_Pgain[i - 1] = insert_pgain;
+ }
btn2_pgain_data[0] = (uint8_t)(Button_Read_Flash(0) / 100);
btn2_pgain_data[1] = (uint8_t)((Button_Read_Flash(0) % 100) / 10);
- btn2_pgain_data[2] = (uint8_t)((Button_Read_Flash(0) % 10) / 1);
+ btn2_pgain_data[2] = (uint8_t)(Button_Read_Flash(0) % 10);
Pgain_segment(btn2_pgain_data[0], btn2_pgain_data[1], btn2_pgain_data[2], SEG_DELAY_TIME);
}
else
{
- Pgain_segment(2, 5, 0, SEG_DELAY_TIME);
+ insert_pgain = 25.0 * PGAIN_CORRETION_FACTOR;
+ for (int i = 1; i < 7; i++)
+ {
+ set_data[i * 10 + 2] = insert_pgain;
+ position_Pgain[i - 1] = insert_pgain;
+ }
+ btn2_pgain_data[0] = (uint8_t)2;
+ btn2_pgain_data[1] = (uint8_t)5;
+ btn2_pgain_data[2] = (uint8_t)0;
+ Pgain_segment(btn2_pgain_data[0], btn2_pgain_data[1], btn2_pgain_data[2], SEG_DELAY_TIME);
+ flash_save_flag = true;
}
- if(insert_input != 0xFFFFFFFF)
+
+
+ if (Button_Read_Flash(4) != 0xFFFFFFFF)
{
+ insert_input = Convert_double_Igain(Button_Read_Flash(4));
+
+ for (int i = 1; i < 7; i++)
+ {
+ set_data[i * 10 + 3] = insert_input;
+ Position_input_filter[i - 1] = insert_input;
+ }
btn2_input_data[0] = (uint8_t)(Button_Read_Flash(4) / 10);
btn2_input_data[1] = (uint8_t)(Button_Read_Flash(4) % 10);
Input_segment(btn2_input_data[0], btn2_input_data[1], SEG_DELAY_TIME);
}
+ else
{
+ insert_input = 0.05;
+
+ for (int i = 1; i < 7; i++)
+ {
+ set_data[i * 10 + 3] = insert_input;
+ Position_input_filter[i - 1] = insert_input;
+ }
+ btn2_input_data[0] = (uint8_t)5;
+ btn2_input_data[1] = (uint8_t)0;
Input_segment(5, 0, SEG_DELAY_TIME);
+ flash_save_flag = true;
}
}
@@ -290,6 +316,7 @@
}
btn2_push_check[1] = 0;
insert_pgain = (double)btn2_pgain_data[0] * 10 + (double)btn2_pgain_data[1] + (double)btn2_pgain_data[2] * 0.1; // inser set_data
+ insert_pgain *= PGAIN_CORRETION_FACTOR;
for(int i = 1; i < 7; i++)
{
set_data[i * 10 + 2] = insert_pgain;
@@ -326,6 +353,7 @@
}
btn2_push_check[0] = 0;
insert_pgain = (double)btn2_pgain_data[0] * 10 + (double)btn2_pgain_data[1] + (double)btn2_pgain_data[2] * 0.1; // inser set_data
+ insert_pgain *= PGAIN_CORRETION_FACTOR;
for(int i = 1; i < 7; i++)
{
set_data[i * 10 + 2] = insert_pgain;
@@ -407,60 +435,33 @@
{
uint8_t button_dataA = MCP_Read(MCP_BTN1_CS, MCP_GPIOA);
uint8_t button_dataB = MCP_Read(MCP_BTN1_CS, MCP_GPIOB);
-
+
axis_button=(((uint16_t)button_dataB & 0x000f )<<8 )+button_dataA;
+
if(!set_mode)
- {
- if(((set_command == 0) || (set_command == 1))&& ((axis_button & 0b000000100000) == 0)) //bit6 > AXIS1(+)
- {
- set_command = 1;
- }
- else if(((set_command == 1) || (set_command == 2)) && ((axis_button & 0b100000000000) == 0)) //bit12 > AXIS1(-)
- {
- set_command = 2;
- }
- else if(((set_command == 2) || (set_command == 3)) && ((axis_button & 0b000000010000) == 0)) //bit5 > AXIS2(+)
- {
- set_command = 3;
- }
- else if(((set_command == 3) || (set_command == 4)) && ((axis_button & 0b010000000000) == 0)) //bit11 > AXIS2(-)
- {
- set_command = 4;
- }
- else if(((set_command == 4) || (set_command == 5)) && ((axis_button & 0b000000001000) == 0)) //bit4 > AXIS3(+)
- {
- set_command = 5;
- }
- else if(((set_command == 5) || (set_command == 6)) && ((axis_button & 0b001000000000) == 0)) //bit10 > AXIS3(-)
+ {
+ set_cmd_delay++;
+ if(set_cmd_delay > 200) set_cmd_delay = 200;
+
+ if((axis_button & 0b000000100000) == 0) //bit6 > AXIS1(+)
{
- set_command = 6;
- }
- else if(((set_command == 6) || (set_command == 7)) && ((axis_button & 0b000000000100) == 0)) //bit3 > AXIS4(+)
- {
- set_command = 7;
- }
- else if(((set_command == 7) || (set_command == 8)) && ((axis_button & 0b000100000000) == 0)) //bit9 > AXIS4(-)
- {
- set_command = 8;
- }
- else if(((set_command == 8) || (set_command == 9)) && ((axis_button & 0b000000000010) == 0)) //bit2 > AXIS5(+)
- {
- set_command = 9;
+ if(set_cmd_delay > 100)
+ {
+ set_cmd_togle = true;
+ set_cmd_delay = 0;
+ }
}
- else if(((set_command == 9) || (set_command == 10)) && ((axis_button & 0b000010000000) == 0)) //bit8 > AXIS5(-)
- {
- set_command = 10;
- }
- else if(((set_command == 10) || (set_command == 11)) && ((axis_button & 0b000000000001) == 0)) //bit1 > AXIS6(+)
+ else if((set_cmd_togle == true) && (axis_button == 0b111111111111))
{
- set_command = 11;
+ set_cmd_togle = false;
+ set_command++;
+
+ if(set_command >= 5)
+ {
+ set_mode = true;
+ }
}
- else if((set_command == 11) && ((axis_button & 0b000001000000) == 0)) //bit7 > AXIS6(-)
- {
- set_command = 0;
- set_mode = true;
- }
- else if(axis_button == 0b111111111111)
+ else if(axis_button == 0b111111111111)
{
}
else
@@ -472,62 +473,62 @@
{
if( (axis_button & 0b000001000000) == 0) //bit1 > AXIS6(-)
{
- btn1_push_check[5]--;
+ button_offset_posion[5]--;
menual_mode=true;
}
else if( (axis_button & 0b000010000000) == 0) //bit2 > AXIS5(-)
{
- btn1_push_check[4]--;
+ button_offset_posion[4]--;
menual_mode=true;
}
else if( (axis_button & 0b000100000000) == 0) //bit3 > AXIS4(-)
{
- btn1_push_check[3]--;
+ button_offset_posion[3]--;
menual_mode=true;
}
else if( (axis_button & 0b001000000000) == 0) //bit4 > AXIS3(-)
{
- btn1_push_check[2]--;
+ button_offset_posion[2]--;
menual_mode=true;
}
else if( (axis_button & 0b000000000010) == 0) //bit5 > AXIS5(+)
{
- btn1_push_check[4]++;
+ button_offset_posion[4]++;
menual_mode=true;
}
else if( (axis_button & 0b000000000001) == 0) //bit6 > AXIS6(+)
{
- btn1_push_check[5]++;
+ button_offset_posion[5]++;
menual_mode=true;
}
else if( (axis_button & 0b010000000000) == 0) //bit7 > AXIS2(-)
{
- btn1_push_check[1]--;
+ button_offset_posion[1]--;
menual_mode=true;
}
else if( (axis_button & 0b100000000000) == 0) //bit8 > AXIS1(-)
{
- btn1_push_check[0]--;
+ button_offset_posion[0]--;
menual_mode=true;
}
else if( (axis_button & 0b000000100000) == 0) //bit9 > AXIS1(+)
{
- btn1_push_check[0]++;
+ button_offset_posion[0]++;
menual_mode=true;
}
else if( (axis_button & 0b000000010000) == 0) //bit10 > AXIS2(+)
{
- btn1_push_check[1]++;
+ button_offset_posion[1]++;
menual_mode=true;
}
else if( (axis_button & 0b000000001000) == 0) //bit11 > AXIS3(+)
{
- btn1_push_check[2]++;
+ button_offset_posion[2]++;
menual_mode=true;
}
else if( (axis_button & 0b000000000100) == 0) //bit12 > AXIS4(+)
{
- btn1_push_check[3]++;
+ button_offset_posion[3]++;
menual_mode=true;
}