Diff: main.cpp

Revision:

0:c049cebc31b4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Aug 06 21:31:59 2018 +0000
@@ -0,0 +1,367 @@
+#include "mbed.h"
+//#include "stdio.h"
+#include "QEI.h"
+#include "string"
+#include "Arial12x12.h"
+#include "Arial24x23.h"
+#include "Arial28x28.h"
+#include "font_big.h"
+#include "bigFo.h"
+#include "ILI9341.h"
+#include "Arial43x48_numb.h"
+#include "DebounceIn.h"
+#include "CPU_Usage.h"
+
+
+
+#define PI (3.141592653589793)
+
+#define encoderRATE  100
+#define lcdRATE  100
+#define stepRATE  15
+
+#define mmRatio  4450
+
+#define stAngle  0
+#define stFeed 1
+#define stThread 2
+
+#define editPos 0
+#define editMult 1
+#define editFeed 2
+
+Timer t;
+
+DigitalOut myled1(LED1);
+
+Serial pc(USBTX, USBRX);
+
+
+Thread threadEnc(osPriorityNormal);
+Thread threadStep(osPriorityAboveNormal);
+
+DebounceIn  wheelPanButton(PC_12);
+
+DebounceIn  pos1Button(PB_12);
+DebounceIn  pos2Button(PA_12);
+DebounceIn  selectButton(PA_11);
+
+InterruptIn  switch1Button(PC_8);
+InterruptIn  switch2Button(PC_6);
+InterruptIn  switch3Button(PC_5);
+//PC_6 midle feed rubilnik pin
+
+
+DigitalOut stepPin(PB_1);
+DigitalOut dirPin(PB_2);
+
+
+//Use X4 encoding.
+//QEI wheel(p29, p30, NC, 624, QEI::X4_ENCODING);
+//Use X2 encoding by default.
+//QEI wheel (p29, p30, NC, 624);
+QEI wheel (PB_13, PB_14, PB_15, 4000, QEI::X4_ENCODING);
+
+QEI wheelPan (PC_11, PC_10, NC, 20, QEI::X4_ENCODING);
+
+PinName buspins[8]={D8,D9,D2,D3,D4,D5,D6,D7};
+ILI9341 myLCD(BUS_8, buspins, A3, A4, A2, A1, A0,"myLCD"); // Parallel Bus 8bit, buspins array, CS, reset, RS, WR, RD
+
+
+unsigned short backgroundcolor=Blue;
+unsigned short foregroundcolor=White;
+
+
+
+int state=1, prevState=-1;
+
+volatile int dir,z=1, k=7, edit=0;
+
+volatile float stPos=0, stPrevPos=1, stTarget=0;
+volatile float stepMult =1, prevStepMult=0, pos1, pos2, prevPos1, prevPos2;
+
+float multMass[2]={0.1,1};
+int feedMass[10]={30,60,120,180,240,300,450,600,900,1200};
+
+volatile int Pulses     = 0, panPulses=0, feedRate = 450, delta;
+volatile int PrevPulses = 0;
+volatile int rev = 0;
+volatile int prevRev = 0;
+volatile int panAngle=0, prevPanAngle=0;
+volatile float stepPeriod = stepRATE;
+volatile float Angle = 0;
+float prevAngle=0;
+bool wheelBut, prevWheelBut, startUp=true, showStopPos=1;
+
+    
+void printWheelPan(){
+    myLCD.set_font((unsigned char*) SCProSB31x55);
+    myLCD.locate(50,50);
+    myLCD.printf("%.1f ", Angle);
+    myLCD.set_font((unsigned char*) Arial43x48_numb);
+    myLCD.locate(50,50);
+    myLCD.printf("%.1f ", Angle);
+    }
+    
+void printWheelBut(){
+    myLCD.set_font((unsigned char*) Arial24x23);
+    myLCD.locate(150,50);
+    myLCD.printf("But %.1i ", wheelBut);
+    }
+    
+void printMult(){
+    myLCD.set_font((unsigned char*) Arial24x23);
+    myLCD.locate(90,215);
+    myLCD.printf("%.1f", stepMult);
+    }
+    
+void printFeed(){
+    myLCD.set_font((unsigned char*) Arial24x23);
+    myLCD.locate(250,215);
+    myLCD.printf("%i", feedRate);
+    }
+    
+void printTrPos(){
+    myLCD.set_font((unsigned char*) Arial24x23);
+    myLCD.locate(90,185);
+    myLCD.printf("%.1f", pos1/mmRatio);
+    }
+    
+void printPos2(){
+    myLCD.set_font((unsigned char*) Arial24x23);
+    myLCD.locate(250,185);
+    myLCD.printf("%.1f", pos2/mmRatio);
+    }
+    
+void printStPos(){
+    myLCD.foreground(Green); 
+    myLCD.set_font((unsigned char*) Arial12x12);
+    myLCD.locate(10,95);
+    float val=stTarget/mmRatio;
+    myLCD.printf("%.1f ", val);
+    myLCD.foreground(White); 
+    myLCD.set_font((unsigned char*) SCProSB31x55);
+    myLCD.locate(60,70);
+    val=stPos/mmRatio;
+    myLCD.printf("%.1f ", val);
+    }
+
+
+void printStAngle(){
+    myLCD.cls();   
+    myLCD.set_orientation(1);   
+    myLCD.background(Blue);    // set background to black
+    myLCD.foreground(White);    // set chars to white
+    myLCD.rect(0,0,320,240, Blue);
+    myLCD.set_font((unsigned char*) Arial28x28);
+    myLCD.locate(100,10);
+    myLCD.printf("ANGLE mode");
+    myLCD.set_font((unsigned char*) Arial24x23);
+    myLCD.locate(200,300);
+    myLCD.printf("o");
+    }
+  //PRINT FEED MODE  
+void printStFeed(){
+    myLCD.cls();   
+    myLCD.set_orientation(1);   
+    myLCD.background(Blue);    // set background to black
+    myLCD.foreground(White);    // set chars to white
+    myLCD.rect(0,0,320,240, Blue);
+    myLCD.set_font((unsigned char*) Arial28x28);
+    myLCD.locate(75,10);
+    myLCD.printf(" FEED mode");
+    myLCD.background(Black);
+    myLCD.set_font((unsigned char*) Arial24x23);
+    myLCD.locate(5,70);
+    myLCD.printf("pos ");
+    myLCD.rect(0,180,160,210, Blue);
+    myLCD.rect(160,180,320,210, Blue);
+    myLCD.rect(160,210,320,240, Blue);
+    myLCD.rect(0,210,160,240, Blue);
+    myLCD.set_font((unsigned char*) Arial24x23);
+    myLCD.locate(5,215);
+    myLCD.printf("Mult:");
+    myLCD.locate(165,215);
+    myLCD.printf("Feed:");
+    myLCD.locate(5,185);
+    myLCD.printf("Pos1:");
+    //myLCD.locate(165,185);
+    //myLCD.printf("Pos2:");
+    printFeed();
+    }
+    
+void pitnTmpVar(float var){
+    myLCD.set_font((unsigned char*) Arial12x12);
+    myLCD.locate(5,5);
+    myLCD.printf("%.1f ", var);
+    }
+    
+void encoderPan_thread() {
+    while(1){
+
+        wheelBut=wheelPanButton.read();
+        if(!wheelBut){
+            int prevPanPulses=panPulses;
+            panPulses=wheelPan.getPulses()/4;
+            delta = (prevPanPulses - panPulses);
+            if(edit==0){
+                stTarget = stTarget+ (delta*stepMult*mmRatio);
+            }else if(edit==1){
+                z=z+delta;
+                if(z>1){z=0;}else if (z<0){z=1;}
+                stepMult= multMass[z]; 
+            }else if(edit==2){
+                k=k+delta;
+                if(k>9){k=0;}else if (k<0){k=9;}
+                feedRate = feedMass[k];
+                stepPeriod=60000000/(feedRate*mmRatio);
+            }
+        }else{
+            edit++;
+            if(edit>2){edit=0;}
+            wait_ms(100);
+        }
+        
+        if(!pos1Button.read()){
+            pos1=stPos;
+            printTrPos();
+            wait_ms(100);
+        }
+        
+        if(!pos2Button.read()){
+            stPos=0;
+            stTarget = 0;
+            printStPos();
+            wait_ms(100);
+        }
+        
+        if(!selectButton.read()){
+            state++;
+            if(state>1){state=0;}
+            wait_ms(500);
+        }
+            
+        wait_ms(encoderRATE);
+        
+    }
+}
+
+void feedToPos(){
+    stepPeriod=60000000/(feedRate*mmRatio);
+    stTarget = pos1;
+    wait_ms(100);
+}
+void feedHandMode(){
+    stepPeriod=stepRATE;
+    wait_ms(100);
+    }
+void feedToZero(){
+    stepPeriod=60000000/(feedRate*mmRatio);
+    stTarget = 0;
+    wait_ms(100);
+    }
+
+
+void stepper_thread() {
+    while(1){
+       if(stTarget>stPos){dirPin=1; dir=1;}else{dirPin=0;dir=-1;}
+       
+       if(stTarget!=stPos){
+        stepPin=1;
+        wait_us(2);
+        stepPin=0;
+        wait_us(stepPeriod);
+        stPos=stPos+dir;
+       } else{
+           wait_ms(100);
+           }
+       
+    }
+}
+
+
+int main() {
+    pc.printf("startUp\r\n");  
+    wheelPanButton.mode(PullUp);
+    pos1Button.mode(PullUp);
+    pos2Button.mode(PullUp);
+    selectButton.mode(PullUp);
+    switch1Button.mode(PullUp);
+    switch2Button.mode(PullUp);
+    switch3Button.mode(PullUp);
+    pc.printf("ButtonIsPullUp\r\n");  
+    
+    switch1Button.fall(&feedToPos);
+    switch2Button.fall(&feedHandMode);
+    switch3Button.fall(&feedToZero);
+    pc.printf("InteruptIsOn\r\n");  
+    
+    //wheelPanButton.set_samples(5);
+    //wheelPanButton.set_debounce_us(5000);
+    threadEnc.start(encoderPan_thread);
+    pc.printf("encoderThreadIsRunning\r\n"); 
+    wait_ms(500);
+    threadStep.start(stepper_thread);
+    pc.printf("stepperThreadIsRunning\r\n");  
+    wait_ms(500);
+
+    
+    while(1){
+
+        //ANGLE MODE    
+        if ((state==stAngle)){
+            //print screen
+            if(state!=prevState){
+                printStAngle();
+                prevState=state;
+            }
+            if(prevAngle!=Angle){
+                printWheelPan();
+                prevAngle=Angle;
+                stTarget = Angle*stepMult;
+                }
+                
+            if(prevWheelBut!=wheelBut){
+                //printWheelBut();
+                prevWheelBut=wheelBut;
+                }
+            
+
+        }
+        //FEED MODE
+        if ((state==stFeed)){
+            //print screen
+            if(state!=prevState){
+                printStFeed();
+                prevState=state;
+            }
+            //check encoder        
+            if(stPrevPos!=stPos){
+                printStPos();
+                stPrevPos=stPos;
+                showStopPos =1;
+            }else if(showStopPos){
+                printStPos();
+                showStopPos=0; 
+            }else if(edit==1){
+                printMult();
+            }else if(edit==2){
+                printFeed();
+            }
+            
+
+            
+               
+            if(prevStepMult!=stepMult){
+                printMult();
+                prevStepMult=stepMult;
+            }
+            
+            
+        }
+        //pitnTmpVar(stepPeriod);
+        wait_ms(lcdRATE);
+    }
+
+}
+