Miguel Angel Caycho / Mbed OS Pruebas_Ventilador_Eplimin_01_Backup

para el ventilador

Dependencies:   QEI FastPWM

stepper_motor_driver.cpp@2:6f618b905d4f, 2020-04-16 (annotated)

Committer:
miguelangel_2511
Date:
Thu Apr 16 13:22:16 2020 +0000
Revision:
2:6f618b905d4f
Parent:
1:aa5df1878126
Child:
3:45299e7882b9
Los parametros del sistema fueron movidos desde tft_interface.cpp a ventilator.cpp.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
miguelangel_2511 0:9d0b9785d3d6 1
miguelangel_2511 0:9d0b9785d3d6 2 #include "mbed.h"
miguelangel_2511 0:9d0b9785d3d6 3 #include "project_defines.h"
miguelangel_2511 0:9d0b9785d3d6 4 #include "stepper_motor_driver.h"
miguelangel_2511 0:9d0b9785d3d6 5 #include "buttons.h"
miguelangel_2511 1:aa5df1878126 6 #include "tft_interface.h"
miguelangel_2511 1:aa5df1878126 7 #include "FastPWM.h"
miguelangel_2511 0:9d0b9785d3d6 8
miguelangel_2511 1:aa5df1878126 9 /* Object definition */
miguelangel_2511 1:aa5df1878126 10 InterruptIn stepper_pulse_feedback(STEPPER_PULSE_FEEDBACK_PIN);
miguelangel_2511 1:aa5df1878126 11 FastPWM stepper_pulse(STEPPER_PULSE_PIN, -1);
miguelangel_2511 0:9d0b9785d3d6 12 DigitalOut stepper_en(STEPPER_ENABLE_PIN);
miguelangel_2511 0:9d0b9785d3d6 13 DigitalOut stepper_dir(STEPPER_DIRECTION_PIN);
miguelangel_2511 0:9d0b9785d3d6 14
miguelangel_2511 1:aa5df1878126 15 /* Variable definition */
miguelangel_2511 0:9d0b9785d3d6 16
miguelangel_2511 1:aa5df1878126 17
miguelangel_2511 1:aa5df1878126 18 // ----------------------- Tables used for calculations ------------------------
miguelangel_2511 1:aa5df1878126 19
miguelangel_2511 1:aa5df1878126 20 #if RAMP_STEPS == 50
miguelangel_2511 1:aa5df1878126 21
miguelangel_2511 1:aa5df1878126 22 const float sigma_ramp[RAMP_STEPS] = {
miguelangel_2511 1:aa5df1878126 23 0.002, 0.003, 0.004, 0.005, 0.006, 0.008, 0.010, 0.013, 0.017, 0.021,
miguelangel_2511 1:aa5df1878126 24 0.027, 0.034, 0.042, 0.053, 0.067, 0.083, 0.103, 0.128, 0.157, 0.192,
miguelangel_2511 1:aa5df1878126 25 0.231, 0.277, 0.327, 0.382, 0.440, 0.500, 0.560, 0.618, 0.673, 0.723,
miguelangel_2511 1:aa5df1878126 26 0.769, 0.808, 0.843, 0.872, 0.897, 0.917, 0.933, 0.947, 0.958, 0.966,
miguelangel_2511 1:aa5df1878126 27 0.973, 0.979, 0.983, 0.987, 0.990, 0.992, 0.994, 0.995, 0.996, 0.997
miguelangel_2511 1:aa5df1878126 28 };
miguelangel_2511 1:aa5df1878126 29
miguelangel_2511 1:aa5df1878126 30 #elif RAMP_STEPS == 100
miguelangel_2511 1:aa5df1878126 31
miguelangel_2511 1:aa5df1878126 32 const float sigma_ramp[RAMP_STEPS] = {
miguelangel_2511 1:aa5df1878126 33 0.002, 0.003, 0.003, 0.004, 0.004, 0.005, 0.005, 0.006, 0.006, 0.007,
miguelangel_2511 1:aa5df1878126 34 0.008, 0.009, 0.011, 0.012, 0.013, 0.015, 0.017, 0.019, 0.021, 0.024,
miguelangel_2511 1:aa5df1878126 35 0.027, 0.031, 0.034, 0.039, 0.043, 0.049, 0.055, 0.061, 0.069, 0.077,
miguelangel_2511 1:aa5df1878126 36 0.086, 0.096, 0.107, 0.119, 0.133, 0.147, 0.163, 0.180, 0.199, 0.219,
miguelangel_2511 1:aa5df1878126 37 0.240, 0.263, 0.287, 0.313, 0.339, 0.367, 0.396, 0.425, 0.455, 0.485,
miguelangel_2511 1:aa5df1878126 38 0.515, 0.545, 0.575, 0.604, 0.633, 0.661, 0.687, 0.713, 0.737, 0.760,
miguelangel_2511 1:aa5df1878126 39 0.781, 0.801, 0.820, 0.837, 0.853, 0.867, 0.881, 0.893, 0.904, 0.914,
miguelangel_2511 1:aa5df1878126 40 0.923, 0.931, 0.939, 0.945, 0.951, 0.957, 0.961, 0.966, 0.969, 0.973,
miguelangel_2511 1:aa5df1878126 41 0.976, 0.979, 0.981, 0.983, 0.985, 0.987, 0.988, 0.989, 0.991, 0.992,
miguelangel_2511 1:aa5df1878126 42 0.993, 0.994, 0.994, 0.995, 0.995, 0.996, 0.996, 0.997, 0.997, 0.998f
miguelangel_2511 1:aa5df1878126 43 };
miguelangel_2511 1:aa5df1878126 44
miguelangel_2511 1:aa5df1878126 45 #else
miguelangel_2511 1:aa5df1878126 46 #error "Seleccionar un valor permitido para RAMP_STEPS: Puede ser 50 o 100"
miguelangel_2511 1:aa5df1878126 47 #endif
miguelangel_2511 1:aa5df1878126 48
miguelangel_2511 1:aa5df1878126 49 // -----------------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 50
miguelangel_2511 1:aa5df1878126 51 uint32_t calibration_period_rise_ramp_us[RAMP_STEPS];
miguelangel_2511 1:aa5df1878126 52 uint32_t inspiration_period_rise_ramp_us[RAMP_STEPS];
miguelangel_2511 1:aa5df1878126 53 uint32_t expiration_period_rise_ramp_us[RAMP_STEPS];
miguelangel_2511 1:aa5df1878126 54
miguelangel_2511 1:aa5df1878126 55 // These parameters are configurer through the graphic interface */
miguelangel_2511 1:aa5df1878126 56 uint32_t inspiration_stepper_pulses_setpoint = STEPPER_DRIVER_INSPIRATION_PULSES_DEFAULT ;
miguelangel_2511 1:aa5df1878126 57 //uint32_t expiration_stepper_pulses_setpoint = STEPPER_DRIVER_MAX_PULSES ; // Not used in this version
miguelangel_2511 1:aa5df1878126 58 uint32_t inspiration_stepper_pulse_period_us = STEPPER_DRIVER_DEFAULT_PULSE_PERIOD_US;
miguelangel_2511 1:aa5df1878126 59 uint32_t expiration_stepper_pulse_period_us = STEPPER_DRIVER_DEFAULT_PULSE_PERIOD_US;
miguelangel_2511 1:aa5df1878126 60 uint32_t calibration_stepper_pulse_period_us = STEPPER_DRIVER_DEFAULT_PULSE_PERIOD_US;
miguelangel_2511 1:aa5df1878126 61
miguelangel_2511 1:aa5df1878126 62 // Volume setpoint (250mL, 300mL, 350ml ... 750ml) expressed in steps
miguelangel_2511 1:aa5df1878126 63 uint32_t volume_in_steps[VOLUME_SETPOINT_INDEX_LIMIT] = {
miguelangel_2511 1:aa5df1878126 64 1600, //250 mL
miguelangel_2511 1:aa5df1878126 65 1700, //300 mL
miguelangel_2511 1:aa5df1878126 66 1800, //350 mL
miguelangel_2511 1:aa5df1878126 67 1900, //400 mL
miguelangel_2511 1:aa5df1878126 68 2000, //450 mL
miguelangel_2511 1:aa5df1878126 69 2100, //500 mL
miguelangel_2511 1:aa5df1878126 70 2200, //550 mL
miguelangel_2511 1:aa5df1878126 71 2300, //600 mL
miguelangel_2511 1:aa5df1878126 72 2400, //650 mL
miguelangel_2511 1:aa5df1878126 73 2500, //700 mL
miguelangel_2511 1:aa5df1878126 74 2600 //750 mL
miguelangel_2511 1:aa5df1878126 75 };
miguelangel_2511 1:aa5df1878126 76
miguelangel_2511 1:aa5df1878126 77
miguelangel_2511 1:aa5df1878126 78 // Variables used in every state of the stepper motor driver */
miguelangel_2511 1:aa5df1878126 79 volatile uint32_t stepper_pulse_counter = 0;
miguelangel_2511 1:aa5df1878126 80 volatile uint32_t stepper_ramp_pulse_counter = 0;
miguelangel_2511 1:aa5df1878126 81
miguelangel_2511 1:aa5df1878126 82 // State of the stepper motor
miguelangel_2511 1:aa5df1878126 83 volatile Stepper_Driver_State_t stepper_driver_state = Stepper_Stand_By;
miguelangel_2511 1:aa5df1878126 84
miguelangel_2511 1:aa5df1878126 85 /* Function definition */
miguelangel_2511 1:aa5df1878126 86
miguelangel_2511 1:aa5df1878126 87 /* Initialize the control signals for the stepper */
miguelangel_2511 1:aa5df1878126 88 void Stepper_Driver_Init(void){
miguelangel_2511 1:aa5df1878126 89 stepper_en = STEPPER_ENABLED;
miguelangel_2511 1:aa5df1878126 90 stepper_dir = TO_HOME;
miguelangel_2511 1:aa5df1878126 91 stepper_pulse.period_us((int)calibration_stepper_pulse_period_us);
miguelangel_2511 1:aa5df1878126 92 stepper_pulse.write(0.0f);
miguelangel_2511 1:aa5df1878126 93 stepper_pulse_feedback.fall(&Stepper_Driver_Pulse_Signal_Update);
miguelangel_2511 1:aa5df1878126 94 stepper_driver_state = Stepper_Inspiration_Finish;
miguelangel_2511 1:aa5df1878126 95 // Just for testing purposes
miguelangel_2511 1:aa5df1878126 96 //inspiration_stepper_pulses_setpoint = volume_in_steps[10];
miguelangel_2511 1:aa5df1878126 97 }
miguelangel_2511 1:aa5df1878126 98
miguelangel_2511 0:9d0b9785d3d6 99
miguelangel_2511 0:9d0b9785d3d6 100
miguelangel_2511 0:9d0b9785d3d6 101
miguelangel_2511 1:aa5df1878126 102 void Stepper_Go_Home_Position(void){
miguelangel_2511 1:aa5df1878126 103 // stepper_driver_state = Stepper_Driver_Home_Ramp;
miguelangel_2511 1:aa5df1878126 104
miguelangel_2511 1:aa5df1878126 105 //while(stepper_driver_state != Stepper_Driver_Stand_By){
miguelangel_2511 1:aa5df1878126 106 // Stepper_Driver_State_Machine();
miguelangel_2511 1:aa5df1878126 107 //}
miguelangel_2511 1:aa5df1878126 108 }
miguelangel_2511 1:aa5df1878126 109
miguelangel_2511 1:aa5df1878126 110
miguelangel_2511 1:aa5df1878126 111
miguelangel_2511 1:aa5df1878126 112 void Stepper_Calculate_Period_Ramp(void){
miguelangel_2511 1:aa5df1878126 113
miguelangel_2511 1:aa5df1878126 114 float initial_frequency, final_frequency, frequency_ramp_range;
miguelangel_2511 1:aa5df1878126 115 float frequency_i_hz, period_i_us;
miguelangel_2511 1:aa5df1878126 116 uint8_t i;
miguelangel_2511 1:aa5df1878126 117
miguelangel_2511 1:aa5df1878126 118 /* Period rise ramp for inspiration */
miguelangel_2511 1:aa5df1878126 119 initial_frequency = (float)STEPPER_START_BRAKE_FREQUENCY_HZ;
miguelangel_2511 1:aa5df1878126 120 final_frequency = 1000000.0 / (float)inspiration_stepper_pulse_period_us;
miguelangel_2511 1:aa5df1878126 121 frequency_ramp_range = final_frequency - initial_frequency;
miguelangel_2511 1:aa5df1878126 122
miguelangel_2511 1:aa5df1878126 123 for(i = 0; i < RAMP_STEPS; i++){
miguelangel_2511 1:aa5df1878126 124 frequency_i_hz = initial_frequency + (frequency_ramp_range * sigma_ramp[i]);
miguelangel_2511 1:aa5df1878126 125 period_i_us = 1000000.0 / frequency_i_hz;
miguelangel_2511 1:aa5df1878126 126 inspiration_period_rise_ramp_us[i] = (uint32_t)period_i_us;
miguelangel_2511 1:aa5df1878126 127 }
miguelangel_2511 1:aa5df1878126 128
miguelangel_2511 1:aa5df1878126 129 /* Period rise ramp for expiration */
miguelangel_2511 1:aa5df1878126 130 initial_frequency = (float)STEPPER_START_BRAKE_FREQUENCY_HZ;
miguelangel_2511 1:aa5df1878126 131 final_frequency = 1000000.0 / (float)expiration_stepper_pulse_period_us;
miguelangel_2511 1:aa5df1878126 132 frequency_ramp_range = final_frequency - initial_frequency;
miguelangel_2511 1:aa5df1878126 133
miguelangel_2511 1:aa5df1878126 134 for(i = 0; i < RAMP_STEPS; i++){
miguelangel_2511 1:aa5df1878126 135 frequency_i_hz = initial_frequency + (frequency_ramp_range * sigma_ramp[i]);
miguelangel_2511 1:aa5df1878126 136 period_i_us = 1000000.0 / frequency_i_hz;
miguelangel_2511 1:aa5df1878126 137 expiration_period_rise_ramp_us[i] = (uint32_t)period_i_us;
miguelangel_2511 1:aa5df1878126 138 }
miguelangel_2511 1:aa5df1878126 139
miguelangel_2511 1:aa5df1878126 140 }
miguelangel_2511 1:aa5df1878126 141
miguelangel_2511 1:aa5df1878126 142
miguelangel_2511 1:aa5df1878126 143 void Stepper_Driver_State_Machine(void){
miguelangel_2511 0:9d0b9785d3d6 144
miguelangel_2511 1:aa5df1878126 145 switch(stepper_driver_state){
miguelangel_2511 1:aa5df1878126 146
miguelangel_2511 1:aa5df1878126 147 case Stepper_Inspiration_Rising_Ramp:
miguelangel_2511 1:aa5df1878126 148
miguelangel_2511 1:aa5df1878126 149 break;
miguelangel_2511 1:aa5df1878126 150 // -----------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 151 case Stepper_Inspiration:
miguelangel_2511 1:aa5df1878126 152
miguelangel_2511 1:aa5df1878126 153 break;
miguelangel_2511 1:aa5df1878126 154 // -----------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 155 case Stepper_Inspiration_Falling_Ramp:
miguelangel_2511 1:aa5df1878126 156
miguelangel_2511 1:aa5df1878126 157 break;
miguelangel_2511 1:aa5df1878126 158 // -----------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 159 case Stepper_Inspiration_Finish:
miguelangel_2511 1:aa5df1878126 160
miguelangel_2511 1:aa5df1878126 161 stepper_pulse_counter = 0;
miguelangel_2511 1:aa5df1878126 162 stepper_ramp_pulse_counter = 0;
miguelangel_2511 1:aa5df1878126 163 stepper_dir = TO_HOME;
miguelangel_2511 1:aa5df1878126 164 stepper_pulse.period_us((int)STEPPER_START_BRAKE_PERIOD_US);
miguelangel_2511 1:aa5df1878126 165 stepper_pulse.write(0.5);
miguelangel_2511 1:aa5df1878126 166 stepper_driver_state = Stepper_Expiration_Rising_Ramp;
miguelangel_2511 1:aa5df1878126 167
miguelangel_2511 1:aa5df1878126 168 break;
miguelangel_2511 1:aa5df1878126 169 // -----------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 170 case Stepper_Expiration_Rising_Ramp:
miguelangel_2511 1:aa5df1878126 171
miguelangel_2511 1:aa5df1878126 172 break;
miguelangel_2511 1:aa5df1878126 173 // -----------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 174 case Stepper_Expiration:
miguelangel_2511 1:aa5df1878126 175
miguelangel_2511 1:aa5df1878126 176 break;
miguelangel_2511 1:aa5df1878126 177 // -----------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 178 case Stepper_Expiration_Falling_Ramp:
miguelangel_2511 1:aa5df1878126 179
miguelangel_2511 1:aa5df1878126 180 break;
miguelangel_2511 1:aa5df1878126 181 // -----------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 182 case Stepper_Expiration_Finish:
miguelangel_2511 1:aa5df1878126 183
miguelangel_2511 1:aa5df1878126 184 stepper_pulse_counter = 0;
miguelangel_2511 1:aa5df1878126 185 stepper_ramp_pulse_counter = 0;
miguelangel_2511 1:aa5df1878126 186 stepper_dir = TO_AIRBAG;
miguelangel_2511 1:aa5df1878126 187 stepper_pulse.period_us((int)STEPPER_START_BRAKE_PERIOD_US);
miguelangel_2511 1:aa5df1878126 188 stepper_pulse.write(0.5);
miguelangel_2511 1:aa5df1878126 189 stepper_driver_state = Stepper_Inspiration_Rising_Ramp;
miguelangel_2511 1:aa5df1878126 190
miguelangel_2511 1:aa5df1878126 191 break;
miguelangel_2511 1:aa5df1878126 192 // --------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 193 case Stepper_Limit_Sensor_Error:
miguelangel_2511 1:aa5df1878126 194 // Stop the system
miguelangel_2511 1:aa5df1878126 195 stepper_en = STEPPER_DISABLED;
miguelangel_2511 1:aa5df1878126 196 tft->locate(340,VALUES_ROW2_Y_POS);
miguelangel_2511 1:aa5df1878126 197 tft->printf("error");
miguelangel_2511 1:aa5df1878126 198 stepper_driver_state = Stepper_Stand_By;
miguelangel_2511 1:aa5df1878126 199 break;
miguelangel_2511 1:aa5df1878126 200 // --------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 201 case Stepper_Stand_By:
miguelangel_2511 1:aa5df1878126 202
miguelangel_2511 1:aa5df1878126 203 break;
miguelangel_2511 1:aa5df1878126 204 // --------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 205 default:
miguelangel_2511 1:aa5df1878126 206
miguelangel_2511 1:aa5df1878126 207 break;
miguelangel_2511 0:9d0b9785d3d6 208 }
miguelangel_2511 0:9d0b9785d3d6 209 }
miguelangel_2511 0:9d0b9785d3d6 210
miguelangel_2511 0:9d0b9785d3d6 211
miguelangel_2511 1:aa5df1878126 212 void Stepper_Driver_Pulse_Signal_Update(void){
miguelangel_2511 1:aa5df1878126 213
miguelangel_2511 1:aa5df1878126 214 // Increment the stepper pulse counter
miguelangel_2511 1:aa5df1878126 215 stepper_pulse_counter++;
miguelangel_2511 1:aa5df1878126 216
miguelangel_2511 1:aa5df1878126 217 // Increment the proper counter
miguelangel_2511 1:aa5df1878126 218 switch(stepper_driver_state){
miguelangel_2511 1:aa5df1878126 219 /* Increase the speed gradually */
miguelangel_2511 1:aa5df1878126 220 case Stepper_Inspiration_Rising_Ramp:
miguelangel_2511 1:aa5df1878126 221 if(stepper_ramp_pulse_counter < RAMP_STEPS){
miguelangel_2511 1:aa5df1878126 222 stepper_pulse.period_us((int)inspiration_period_rise_ramp_us[stepper_ramp_pulse_counter]);
miguelangel_2511 1:aa5df1878126 223 stepper_pulse.write(0.5);
miguelangel_2511 1:aa5df1878126 224 stepper_ramp_pulse_counter++;
miguelangel_2511 1:aa5df1878126 225 }else{
miguelangel_2511 1:aa5df1878126 226 stepper_pulse.period_us((int)inspiration_stepper_pulse_period_us);
miguelangel_2511 1:aa5df1878126 227 stepper_pulse.write(0.5);
miguelangel_2511 1:aa5df1878126 228 stepper_ramp_pulse_counter = 0;
miguelangel_2511 1:aa5df1878126 229 stepper_driver_state = Stepper_Inspiration;
miguelangel_2511 1:aa5df1878126 230 }
miguelangel_2511 1:aa5df1878126 231 break;
miguelangel_2511 1:aa5df1878126 232 // --------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 233 case Stepper_Inspiration:
miguelangel_2511 1:aa5df1878126 234 if(stepper_pulse_counter >= (inspiration_stepper_pulses_setpoint - RAMP_STEPS)){
miguelangel_2511 1:aa5df1878126 235 stepper_driver_state = Stepper_Inspiration_Falling_Ramp;
miguelangel_2511 1:aa5df1878126 236 }
miguelangel_2511 1:aa5df1878126 237 break;
miguelangel_2511 1:aa5df1878126 238 // --------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 239 case Stepper_Inspiration_Falling_Ramp:
miguelangel_2511 1:aa5df1878126 240 if(stepper_ramp_pulse_counter < RAMP_STEPS){
miguelangel_2511 1:aa5df1878126 241 stepper_ramp_pulse_counter++;
miguelangel_2511 1:aa5df1878126 242 stepper_pulse.period_us((int)inspiration_period_rise_ramp_us[RAMP_STEPS - stepper_ramp_pulse_counter]);
miguelangel_2511 1:aa5df1878126 243 stepper_pulse.write(0.5);
miguelangel_2511 1:aa5df1878126 244 }else if(stepper_ramp_pulse_counter == RAMP_STEPS){
miguelangel_2511 1:aa5df1878126 245 stepper_ramp_pulse_counter++;
miguelangel_2511 1:aa5df1878126 246 stepper_pulse.period_us((int)STEPPER_START_BRAKE_PERIOD_US);
miguelangel_2511 1:aa5df1878126 247 stepper_pulse.write(0.5);
miguelangel_2511 1:aa5df1878126 248 }else{
miguelangel_2511 1:aa5df1878126 249 stepper_ramp_pulse_counter = 0;
miguelangel_2511 1:aa5df1878126 250 stepper_pulse.write(0.0);
miguelangel_2511 1:aa5df1878126 251 stepper_driver_state = Stepper_Inspiration_Finish;
miguelangel_2511 1:aa5df1878126 252 }
miguelangel_2511 1:aa5df1878126 253 break;
miguelangel_2511 1:aa5df1878126 254 // --------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 255 case Stepper_Inspiration_Finish:
miguelangel_2511 1:aa5df1878126 256 break;
miguelangel_2511 1:aa5df1878126 257 // --------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 258 case Stepper_Expiration_Rising_Ramp:
miguelangel_2511 1:aa5df1878126 259 if(stepper_ramp_pulse_counter < RAMP_STEPS){
miguelangel_2511 1:aa5df1878126 260 stepper_pulse.period_us((int)expiration_period_rise_ramp_us[stepper_ramp_pulse_counter]);
miguelangel_2511 1:aa5df1878126 261 stepper_pulse.write(0.5);
miguelangel_2511 1:aa5df1878126 262 stepper_ramp_pulse_counter++;
miguelangel_2511 1:aa5df1878126 263 }else{
miguelangel_2511 1:aa5df1878126 264 stepper_pulse.period_us((int)expiration_stepper_pulse_period_us);
miguelangel_2511 1:aa5df1878126 265 stepper_pulse.write(0.5);
miguelangel_2511 1:aa5df1878126 266 stepper_ramp_pulse_counter = 0;
miguelangel_2511 1:aa5df1878126 267 stepper_driver_state = Stepper_Expiration;
miguelangel_2511 1:aa5df1878126 268
miguelangel_2511 1:aa5df1878126 269 }
miguelangel_2511 1:aa5df1878126 270 break;
miguelangel_2511 1:aa5df1878126 271 // --------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 272 case Stepper_Expiration:
miguelangel_2511 1:aa5df1878126 273 if(buttons & (1 << LIMIT_SW_01)){
miguelangel_2511 1:aa5df1878126 274 stepper_driver_state = Stepper_Expiration_Falling_Ramp;
miguelangel_2511 1:aa5df1878126 275 }else if(stepper_pulse_counter > STEPPER_DRIVER_MAX_PULSES){
miguelangel_2511 1:aa5df1878126 276 stepper_pulse.write(0.0);
miguelangel_2511 1:aa5df1878126 277 stepper_driver_state = Stepper_Limit_Sensor_Error;
miguelangel_2511 1:aa5df1878126 278 }else{
miguelangel_2511 1:aa5df1878126 279 // Does nothing
miguelangel_2511 1:aa5df1878126 280 }
miguelangel_2511 1:aa5df1878126 281
miguelangel_2511 1:aa5df1878126 282 break;
miguelangel_2511 1:aa5df1878126 283 // --------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 284 case Stepper_Expiration_Falling_Ramp:
miguelangel_2511 1:aa5df1878126 285 if(stepper_ramp_pulse_counter < RAMP_STEPS){
miguelangel_2511 1:aa5df1878126 286 stepper_ramp_pulse_counter++;
miguelangel_2511 1:aa5df1878126 287 stepper_pulse.period_us((int)expiration_period_rise_ramp_us[RAMP_STEPS - stepper_ramp_pulse_counter]);
miguelangel_2511 1:aa5df1878126 288 stepper_pulse.write(0.5);
miguelangel_2511 1:aa5df1878126 289 }else if(stepper_ramp_pulse_counter == RAMP_STEPS){
miguelangel_2511 1:aa5df1878126 290 stepper_pulse.period_us((int)STEPPER_START_BRAKE_PERIOD_US);
miguelangel_2511 1:aa5df1878126 291 stepper_pulse.write(0.5);
miguelangel_2511 1:aa5df1878126 292 stepper_ramp_pulse_counter++;
miguelangel_2511 1:aa5df1878126 293 }else{
miguelangel_2511 1:aa5df1878126 294 stepper_pulse.write(0.0);
miguelangel_2511 1:aa5df1878126 295 stepper_driver_state = Stepper_Expiration_Finish;
miguelangel_2511 1:aa5df1878126 296 }
miguelangel_2511 1:aa5df1878126 297 break;
miguelangel_2511 1:aa5df1878126 298 // --------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 299 case Stepper_Expiration_Finish:
miguelangel_2511 1:aa5df1878126 300 break;
miguelangel_2511 1:aa5df1878126 301 // --------------------------------------------------------------------
miguelangel_2511 1:aa5df1878126 302 default:
miguelangel_2511 1:aa5df1878126 303 break;
miguelangel_2511 1:aa5df1878126 304 }
miguelangel_2511 1:aa5df1878126 305
miguelangel_2511 1:aa5df1878126 306 }
miguelangel_2511 1:aa5df1878126 307
miguelangel_2511 1:aa5df1878126 308
miguelangel_2511 1:aa5df1878126 309
miguelangel_2511 1:aa5df1878126 310
miguelangel_2511 1:aa5df1878126 311