Martin Hill / Mbed 2 deprecated Opener-6

opener-6

Dependencies:   TextLCD_HelloWorld2 TextLCD mbed

Fork of TextLCD_HelloWorld2 by Wim Huiskamp

main.cpp@5:93f48c84e645, 2018-04-16 (annotated)

Committer:
Martin1000
Date:
Mon Apr 16 12:09:03 2018 +0000
Revision:
5:93f48c84e645
Parent:
4:a3e4bb2053cb 
door 6

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Martin1000 5:93f48c84e645 1
Martin1000 5:93f48c84e645 2 // DOOR OPENER version 1.4 (Opener-6)
Martin1000 5:93f48c84e645 3 //
Martin1000 5:93f48c84e645 4 //
Martin1000 5:93f48c84e645 5 // program and related hardware serve to test the "door opener"
Martin1000 5:93f48c84e645 6 // general function:
Martin1000 5:93f48c84e645 7 //
Martin1000 5:93f48c84e645 8 // open and close via buttons or automatically
Martin1000 5:93f48c84e645 9 // motor stops when endposition is reached (or current to high)
Martin1000 5:93f48c84e645 10 // duty cycle, ramp- time and pause time for automatic
Martin1000 5:93f48c84e645 11 // are adjustable via potentiometers
Martin1000 5:93f48c84e645 12 //
Martin1000 5:93f48c84e645 13 // current, cycles, ramp- time, pause- time will be displayed
Martin1000 5:93f48c84e645 14 //
Martin1000 5:93f48c84e645 15 //
Martin1000 5:93f48c84e645 16 //
Martin1000 5:93f48c84e645 17 // include the following functions:
Martin1000 5:93f48c84e645 18 // read the digital inputs button open
Martin1000 5:93f48c84e645 19 // button close
Martin1000 5:93f48c84e645 20 // proximity switch open
Martin1000 5:93f48c84e645 21 // proximity switch close
Martin1000 5:93f48c84e645 22 // auto_on
Martin1000 5:93f48c84e645 23 //
Martin1000 5:93f48c84e645 24 // read the analog inputs motor_current
Martin1000 5:93f48c84e645 25 // duty_cycle 10..100%
Martin1000 5:93f48c84e645 26 // ramp_time 0.1...9.9 sec
Martin1000 5:93f48c84e645 27 // pause_time 1.0..99.9 sec
Martin1000 5:93f48c84e645 28 //
Martin1000 5:93f48c84e645 29 // set the outputs myled
Martin1000 5:93f48c84e645 30 // out_status_led
Martin1000 5:93f48c84e645 31 // out_led_open
Martin1000 5:93f48c84e645 32 // out_led_close
Martin1000 5:93f48c84e645 33 // pwm_close
Martin1000 5:93f48c84e645 34 // pwm_open
Martin1000 5:93f48c84e645 35 // motor enable
Martin1000 5:93f48c84e645 36 // ---------------------------------------------
Martin1000 5:93f48c84e645 37 // first date : 26-07-2017
Martin1000 5:93f48c84e645 38 // last change : 10-11-2017
Martin1000 5:93f48c84e645 39 // name : Hillebrand, Martin (Iserlohn)
Martin1000 5:93f48c84e645 40 // target : FRDM K64F (from NXP)
Martin1000 5:93f48c84e645 41 // software : mbed (online)
Martin1000 5:93f48c84e645 42 // programming : USB direct to SDA- interface
Martin1000 5:93f48c84e645 43 // ---------------------------------------------
wim 0:a75049de1a82 44
wim 0:a75049de1a82 45 #include "mbed.h"
wim 0:a75049de1a82 46 #include "TextLCD.h"
Martin1000 5:93f48c84e645 47
Martin1000 5:93f48c84e645 48 #define OPEN 1
Martin1000 5:93f48c84e645 49 #define CLOSE 2
Martin1000 5:93f48c84e645 50
Martin1000 5:93f48c84e645 51 // variable declaration
Martin1000 5:93f48c84e645 52 // ====================
Martin1000 5:93f48c84e645 53
Martin1000 5:93f48c84e645 54 int old_value = 0; // for single shot putty- output
Martin1000 5:93f48c84e645 55 int new_value = 0; // dto.
Martin1000 5:93f48c84e645 56
Martin1000 5:93f48c84e645 57 float duty_open = 0; // duty cycle in direction open
Martin1000 5:93f48c84e645 58 float duty_close = 0; // duty cycle in direction close
Martin1000 5:93f48c84e645 59
Martin1000 5:93f48c84e645 60 double motor_current = 0; // current from motor controller CT
Martin1000 5:93f48c84e645 61
Martin1000 5:93f48c84e645 62 int button_open = 0; // following variables contains the
Martin1000 5:93f48c84e645 63 int button_close = 0; // input values, but logical correct
Martin1000 5:93f48c84e645 64 int endpos_open = 0; // e. g. button_open = 1 activ
Martin1000 5:93f48c84e645 65 int endpos_close = 0; // switch_auto = 1, when auto is ON
Martin1000 5:93f48c84e645 66 int switch_auto = 0; //
Martin1000 5:93f48c84e645 67 int time_flag = 0; // flag for resetting timer
Martin1000 5:93f48c84e645 68
Martin1000 5:93f48c84e645 69 int dir = 0;
Martin1000 5:93f48c84e645 70 int off_flag = 0;
Martin1000 5:93f48c84e645 71 int auto_status = 0;
Martin1000 5:93f48c84e645 72 int auto_cycle = 0;
Martin1000 5:93f48c84e645 73 int k = 0;
Martin1000 5:93f48c84e645 74 int start_move = 0;
Martin1000 5:93f48c84e645 75 int flag_9 = 0;
Martin1000 5:93f48c84e645 76
Martin1000 5:93f48c84e645 77
Martin1000 5:93f48c84e645 78
Martin1000 5:93f48c84e645 79 float current_motor = 0; //
Martin1000 5:93f48c84e645 80 double duty_cycle_percent = 0; //
Martin1000 5:93f48c84e645 81 double duty_cycle_current = 0; //
Martin1000 5:93f48c84e645 82
Martin1000 5:93f48c84e645 83 double pause_time = 0; //
Martin1000 5:93f48c84e645 84 double ramp_time = 0;
Martin1000 5:93f48c84e645 85 double voltage3v3 = 0; // analog values refer
Martin1000 5:93f48c84e645 86 double m_old_value = 0;
Martin1000 5:93f48c84e645 87 double m_new_value = 0;
Martin1000 5:93f48c84e645 88 double elapsed_time = 0; // elapsed time since t.start()
Martin1000 5:93f48c84e645 89 double timeout_x_time = 0; // elapsed time for timeout
Martin1000 5:93f48c84e645 90 double gradient = 0; // gradient for solving
Martin1000 5:93f48c84e645 91 double timeouttime = 60; // fix value for reaching the endposition
Martin1000 5:93f48c84e645 92
Martin1000 5:93f48c84e645 93
Martin1000 5:93f48c84e645 94 Timer t;
Martin1000 5:93f48c84e645 95 Timer x;
Martin1000 5:93f48c84e645 96
Martin1000 5:93f48c84e645 97 // function declaration
Martin1000 5:93f48c84e645 98 // ====================
Martin1000 5:93f48c84e645 99
Martin1000 5:93f48c84e645 100 void initialize(void);
Martin1000 5:93f48c84e645 101 void state_to_usb(void);
Martin1000 5:93f48c84e645 102 void read_inputs(void);
Martin1000 5:93f48c84e645 103 void monitor_output(void);
Martin1000 5:93f48c84e645 104 void endpos_led(void);
Martin1000 5:93f48c84e645 105 void motor_manual(int);
Martin1000 5:93f48c84e645 106 void motor_auto(int);
Martin1000 5:93f48c84e645 107 void automatic(void);
Martin1000 5:93f48c84e645 108 void motor_off(void);
Martin1000 5:93f48c84e645 109 void motor_off_auto(void);
Martin1000 5:93f48c84e645 110
Martin1000 5:93f48c84e645 111 void manual_mode(void);
Martin1000 5:93f48c84e645 112 void lcd_output_start(void); // display after reset
Martin1000 5:93f48c84e645 113 void lcd_output_setting(void); // setting mode
Martin1000 5:93f48c84e645 114 void lcd_output_manual(void); // auto, waiting for close door
Martin1000 5:93f48c84e645 115 void lcd_output_auto0(void); // auto, close, waiting for start
Martin1000 5:93f48c84e645 116 void lcd_output_auto1(void); //
Martin1000 5:93f48c84e645 117 void lcd_output_auto2(void);
Martin1000 5:93f48c84e645 118 void lcd_output_auto3(void);
Martin1000 5:93f48c84e645 119
Martin1000 5:93f48c84e645 120
Martin1000 5:93f48c84e645 121 // define inputs and outputs
Martin1000 5:93f48c84e645 122 // =========================
Martin1000 5:93f48c84e645 123
Martin1000 5:93f48c84e645 124 DigitalOut myled(LED1); // internal Test- LED
Martin1000 5:93f48c84e645 125 PwmOut pwm_open(PTD2); // PWM- signal for direction open
Martin1000 5:93f48c84e645 126 PwmOut pwm_close(PTD0); // PWM- signal for direction close
Martin1000 5:93f48c84e645 127
Martin1000 5:93f48c84e645 128 DigitalOut out_enable(PTC4); // enable motor driver
Martin1000 5:93f48c84e645 129 DigitalOut out_led_open(PTC16); // indicator in button open
Martin1000 5:93f48c84e645 130 DigitalOut out_led_close(PTC17); // indicator in button close
Martin1000 5:93f48c84e645 131 DigitalOut out_led_status(PTB9); // led status
wim 4:a3e4bb2053cb 132
Martin1000 5:93f48c84e645 133 DigitalIn in_btn_open(PTD1); // button open
Martin1000 5:93f48c84e645 134 DigitalIn in_btn_close(PTD3); // button close
Martin1000 5:93f48c84e645 135 DigitalIn in_end_pos_open(PTB23); // signal endposition open
Martin1000 5:93f48c84e645 136 DigitalIn in_end_pos_close(PTA1); // signal endposition close
Martin1000 5:93f48c84e645 137 DigitalIn in_sw_auto(PTC12); // switch to start auto sequence
Martin1000 5:93f48c84e645 138
Martin1000 5:93f48c84e645 139
Martin1000 5:93f48c84e645 140 AnalogIn a_in_motor(PTC10); // A5- motor current
Martin1000 5:93f48c84e645 141 AnalogIn a_in_duty(PTC11); // A4- duty cycle analog
Martin1000 5:93f48c84e645 142 AnalogIn a_in_ramp(PTB11); // A3- ramp analog value 0.1..9.9 seconds
Martin1000 5:93f48c84e645 143 AnalogIn a_in_pause(PTB10); // A2- pause analog value0.0..99.9 seconds
Martin1000 5:93f48c84e645 144 AnalogIn a_in_3v3(PTB3); // A1- reference voltage 3,3 volt
Martin1000 5:93f48c84e645 145
Martin1000 5:93f48c84e645 146
wim 0:a75049de1a82 147
Martin1000 5:93f48c84e645 148 /*
Martin1000 5:93f48c84e645 149 AnalogIn a_in_motor(PTB2); // A0- motor current
Martin1000 5:93f48c84e645 150 AnalogIn a_in_duty(PTB3); // A1- duty cycle analog
Martin1000 5:93f48c84e645 151 AnalogIn a_in_ramp(PTB10); // A2- ramp analog value 0.1..9.9 seconds
Martin1000 5:93f48c84e645 152 AnalogIn a_in_pause(PTB11); // A3- pause analog value0.0..99.9 seconds
Martin1000 5:93f48c84e645 153 AnalogIn a_in_3v3(PTC11); // A4- reference voltage 3,3 volt
Martin1000 5:93f48c84e645 154
Martin1000 5:93f48c84e645 155 */
Martin1000 5:93f48c84e645 156 Serial pc(USBTX, USBRX); // Host PC Communication channels tx, rx
Martin1000 5:93f48c84e645 157 I2C i2c_lcd(PTE25,PTE24); // SDA, SCL for K64
Martin1000 5:93f48c84e645 158
Martin1000 5:93f48c84e645 159 TextLCD_I2C lcd(&i2c_lcd, 0x27<<1, TextLCD::LCD20x4);
wim 0:a75049de1a82 160
Martin1000 5:93f48c84e645 161 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 162 void lcd_output_start(void)
Martin1000 5:93f48c84e645 163 {
Martin1000 5:93f48c84e645 164 wait(0.5);
Martin1000 5:93f48c84e645 165 lcd.setBacklight(TextLCD::LightOn); // LCD backlight on
Martin1000 5:93f48c84e645 166 lcd.cls();
Martin1000 5:93f48c84e645 167 lcd.printf("- door opener v4.6 -"); // LCD Headline
Martin1000 5:93f48c84e645 168 }
Martin1000 5:93f48c84e645 169 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 170 void lcd_output_setting(void)
Martin1000 5:93f48c84e645 171 {
Martin1000 5:93f48c84e645 172 lcd.locate(0,0);
Martin1000 5:93f48c84e645 173 lcd.printf("--- setting mode ---");
Martin1000 5:93f48c84e645 174 lcd.locate(0,1);
Martin1000 5:93f48c84e645 175 lcd.printf("duty cycle = %3.0f %% ",duty_cycle_percent);
Martin1000 5:93f48c84e645 176 lcd.locate(0,2);
Martin1000 5:93f48c84e645 177 lcd.printf("ramp time = %3.1f s ",ramp_time);
Martin1000 5:93f48c84e645 178 lcd.locate(0,3);
Martin1000 5:93f48c84e645 179 if (pause_time >=10.0)
Martin1000 5:93f48c84e645 180 {
Martin1000 5:93f48c84e645 181 lcd.printf("pause time = %3.1f s ",pause_time);
Martin1000 5:93f48c84e645 182 }
Martin1000 5:93f48c84e645 183 else
Martin1000 5:93f48c84e645 184 {
Martin1000 5:93f48c84e645 185 lcd.printf("pause time = %3.1f s ",pause_time);
Martin1000 5:93f48c84e645 186 }
Martin1000 5:93f48c84e645 187 }
Martin1000 5:93f48c84e645 188 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 189 void lcd_output_manual(void)
Martin1000 5:93f48c84e645 190 {
Martin1000 5:93f48c84e645 191
Martin1000 5:93f48c84e645 192 if (button_open || button_close)
Martin1000 5:93f48c84e645 193 {
Martin1000 5:93f48c84e645 194 k++;
Martin1000 5:93f48c84e645 195 if (k >8)
Martin1000 5:93f48c84e645 196 {
Martin1000 5:93f48c84e645 197 lcd.cls();
Martin1000 5:93f48c84e645 198 lcd.locate(0,0);
Martin1000 5:93f48c84e645 199 lcd.printf("--- manuel mode ---\n");
Martin1000 5:93f48c84e645 200 motor_current = (double)a_in_motor*1000.0;
Martin1000 5:93f48c84e645 201 lcd.locate(0,2);
Martin1000 5:93f48c84e645 202 lcd.printf("Current = %6.1f mA\n",motor_current);
Martin1000 5:93f48c84e645 203 lcd.locate(0,3);
Martin1000 5:93f48c84e645 204 lcd.printf("duty = %5.0f %%\n",duty_cycle_current);
Martin1000 5:93f48c84e645 205 k = 0;
Martin1000 5:93f48c84e645 206 }
Martin1000 5:93f48c84e645 207 }
Martin1000 5:93f48c84e645 208 }
Martin1000 5:93f48c84e645 209 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 210 void lcd_output_auto0(void)
Martin1000 5:93f48c84e645 211 {
Martin1000 5:93f48c84e645 212 k++;
Martin1000 5:93f48c84e645 213 if (k >8)
Martin1000 5:93f48c84e645 214 {
Martin1000 5:93f48c84e645 215
Martin1000 5:93f48c84e645 216 lcd.cls();
Martin1000 5:93f48c84e645 217 lcd.locate(0,0);
Martin1000 5:93f48c84e645 218 lcd.printf("-- automatic mode --\n");
Martin1000 5:93f48c84e645 219 lcd.locate(0,1);
Martin1000 5:93f48c84e645 220 lcd.printf("status = %d\n", auto_status);
Martin1000 5:93f48c84e645 221 motor_current = (double)a_in_motor*1000.0;
Martin1000 5:93f48c84e645 222 lcd.locate(0,2);
Martin1000 5:93f48c84e645 223 lcd.printf("door is open");
Martin1000 5:93f48c84e645 224 lcd.locate(0,3);
Martin1000 5:93f48c84e645 225 lcd.printf("close door!\n");
Martin1000 5:93f48c84e645 226 k = 0;
Martin1000 5:93f48c84e645 227 }
Martin1000 5:93f48c84e645 228 }
Martin1000 5:93f48c84e645 229 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 230 void lcd_output_auto1(void)
Martin1000 5:93f48c84e645 231 {
Martin1000 5:93f48c84e645 232 k++;
Martin1000 5:93f48c84e645 233 if (k >8)
Martin1000 5:93f48c84e645 234 {
Martin1000 5:93f48c84e645 235
Martin1000 5:93f48c84e645 236 lcd.cls();
Martin1000 5:93f48c84e645 237 lcd.locate(0,0);
Martin1000 5:93f48c84e645 238 lcd.printf("-- automatic mode --\n");
Martin1000 5:93f48c84e645 239 lcd.locate(0,1);
Martin1000 5:93f48c84e645 240 lcd.printf("status = %d\n", auto_status);
Martin1000 5:93f48c84e645 241 motor_current = (double)a_in_motor*1000.0;
Martin1000 5:93f48c84e645 242 lcd.locate(0,2);
Martin1000 5:93f48c84e645 243 lcd.printf("door is closed");
Martin1000 5:93f48c84e645 244 lcd.locate(0,3);
Martin1000 5:93f48c84e645 245 lcd.printf("waiting for start! ");
Martin1000 5:93f48c84e645 246 k = 0;
Martin1000 5:93f48c84e645 247 }
Martin1000 5:93f48c84e645 248 }
Martin1000 5:93f48c84e645 249
Martin1000 5:93f48c84e645 250
Martin1000 5:93f48c84e645 251 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 252 void lcd_output_auto2(void)
Martin1000 5:93f48c84e645 253 {
wim 4:a3e4bb2053cb 254
Martin1000 5:93f48c84e645 255 k++;
Martin1000 5:93f48c84e645 256 if (k >8)
Martin1000 5:93f48c84e645 257 {
Martin1000 5:93f48c84e645 258
Martin1000 5:93f48c84e645 259 lcd.cls();
Martin1000 5:93f48c84e645 260 lcd.locate(0,0);
Martin1000 5:93f48c84e645 261 lcd.printf("-- automatic mode --\n");
Martin1000 5:93f48c84e645 262 lcd.locate(0,1);
Martin1000 5:93f48c84e645 263 if (dir == OPEN)
Martin1000 5:93f48c84e645 264 {
Martin1000 5:93f48c84e645 265 lcd.printf("status = %d OPEN \n", auto_status);
wim 4:a3e4bb2053cb 266 }
Martin1000 5:93f48c84e645 267 if (dir == CLOSE)
Martin1000 5:93f48c84e645 268 {
Martin1000 5:93f48c84e645 269 lcd.printf("status = %d CLOSE\n", auto_status);
Martin1000 5:93f48c84e645 270 }
Martin1000 5:93f48c84e645 271 motor_current = (double)a_in_motor*1000.0;
Martin1000 5:93f48c84e645 272 lcd.locate(0,2);
Martin1000 5:93f48c84e645 273 lcd.printf("running, cycle %d ",auto_cycle);
wim 3:f238b4f7874f 274
Martin1000 5:93f48c84e645 275 lcd.locate(0,3);
Martin1000 5:93f48c84e645 276 lcd.printf("Current = %6.1f mA\r\n",motor_current);
Martin1000 5:93f48c84e645 277 k = 0;
wim 4:a3e4bb2053cb 278 }
wim 4:a3e4bb2053cb 279 }
wim 3:f238b4f7874f 280
wim 3:f238b4f7874f 281
Martin1000 5:93f48c84e645 282 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 283 void lcd_output_auto3(void)
Martin1000 5:93f48c84e645 284 {
Martin1000 5:93f48c84e645 285 k++;
Martin1000 5:93f48c84e645 286 if (k >8)
Martin1000 5:93f48c84e645 287 {
Martin1000 5:93f48c84e645 288
Martin1000 5:93f48c84e645 289 lcd.cls();
Martin1000 5:93f48c84e645 290 lcd.locate(0,0);
Martin1000 5:93f48c84e645 291 lcd.printf("-- automatic mode --\n");
Martin1000 5:93f48c84e645 292 lcd.locate(0,1);
Martin1000 5:93f48c84e645 293 lcd.printf("status = %d\n", auto_status);
Martin1000 5:93f48c84e645 294 motor_current = (double)a_in_motor*1000.0;
Martin1000 5:93f48c84e645 295 lcd.locate(0,2);
Martin1000 5:93f48c84e645 296 lcd.printf("running, cycle %d\r\n",auto_cycle);
wim 0:a75049de1a82 297
Martin1000 5:93f48c84e645 298 lcd.locate(0,3);
Martin1000 5:93f48c84e645 299 lcd.printf("Pause: %3.1f of %3.1f s\r\n",elapsed_time, pause_time);
Martin1000 5:93f48c84e645 300 k = 0;
Martin1000 5:93f48c84e645 301 }
Martin1000 5:93f48c84e645 302 }
Martin1000 5:93f48c84e645 303
Martin1000 5:93f48c84e645 304 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 305 void monitor_output(void)
Martin1000 5:93f48c84e645 306 {
Martin1000 5:93f48c84e645 307 m_old_value = duty_cycle_percent + ramp_time + pause_time;
Martin1000 5:93f48c84e645 308
Martin1000 5:93f48c84e645 309 if (abs(m_new_value - m_old_value) > 1.0)
Martin1000 5:93f48c84e645 310 {
Martin1000 5:93f48c84e645 311 pc.printf("\r\n");
Martin1000 5:93f48c84e645 312 pc.printf("----------------------------\r\n");
Martin1000 5:93f48c84e645 313 pc.printf("duty cycle = %3.1f Prozent \r\n", duty_cycle_percent);
Martin1000 5:93f48c84e645 314 pc.printf("ramp time = %3.1f Sekunden \r\n", ramp_time);
Martin1000 5:93f48c84e645 315 pc.printf("pause time = %4.1f Sekunden \r\n", pause_time);
Martin1000 5:93f48c84e645 316 wait(0.1);
Martin1000 5:93f48c84e645 317 }
Martin1000 5:93f48c84e645 318 m_new_value = m_old_value;
Martin1000 5:93f48c84e645 319 }
Martin1000 5:93f48c84e645 320 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 321 void read_inputs(void) // and calculate
Martin1000 5:93f48c84e645 322 {
Martin1000 5:93f48c84e645 323 button_open = !in_btn_open;
Martin1000 5:93f48c84e645 324 button_close = !in_btn_close;
Martin1000 5:93f48c84e645 325
Martin1000 5:93f48c84e645 326 endpos_open = !in_end_pos_open;
Martin1000 5:93f48c84e645 327 endpos_close = !in_end_pos_close;
Martin1000 5:93f48c84e645 328 switch_auto = !in_sw_auto;
Martin1000 5:93f48c84e645 329
Martin1000 5:93f48c84e645 330
Martin1000 5:93f48c84e645 331
Martin1000 5:93f48c84e645 332 voltage3v3 = (float)a_in_3v3;
Martin1000 5:93f48c84e645 333
Martin1000 5:93f48c84e645 334 duty_cycle_percent = (double)(a_in_duty*100.0f/voltage3v3);
Martin1000 5:93f48c84e645 335 if (duty_cycle_percent > 100.0) duty_cycle_percent = 100.0;
Martin1000 5:93f48c84e645 336 if (duty_cycle_percent < 10.0) duty_cycle_percent = 10.0;
Martin1000 5:93f48c84e645 337
Martin1000 5:93f48c84e645 338 ramp_time = (double)(a_in_ramp*9.9f/voltage3v3);
Martin1000 5:93f48c84e645 339 if (ramp_time <0.1) ramp_time = 0.1;
Martin1000 5:93f48c84e645 340 if (ramp_time >9.9) ramp_time = 9.9;
Martin1000 5:93f48c84e645 341
Martin1000 5:93f48c84e645 342 pause_time = (double)(a_in_pause*99.9f/voltage3v3);
Martin1000 5:93f48c84e645 343 if (pause_time <1.0) pause_time = 1.0;
Martin1000 5:93f48c84e645 344 if (pause_time >99.9) pause_time = 99.9;
Martin1000 5:93f48c84e645 345
Martin1000 5:93f48c84e645 346 if (!button_open && !button_close && !switch_auto)
Martin1000 5:93f48c84e645 347 {
Martin1000 5:93f48c84e645 348 lcd_output_setting();
Martin1000 5:93f48c84e645 349 }
Martin1000 5:93f48c84e645 350 }
Martin1000 5:93f48c84e645 351 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 352 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 353 //-----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 354 void initialize(void)
Martin1000 5:93f48c84e645 355 {
Martin1000 5:93f48c84e645 356 out_led_status = 1;
Martin1000 5:93f48c84e645 357 out_enable = 1;
Martin1000 5:93f48c84e645 358 pwm_close.period(1.0/1000);
Martin1000 5:93f48c84e645 359 pwm_open.period(1.0/1000);
Martin1000 5:93f48c84e645 360 }
Martin1000 5:93f48c84e645 361 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 362 void endpos_led(void)
Martin1000 5:93f48c84e645 363 {
Martin1000 5:93f48c84e645 364 if (endpos_open) // switching ON of the "end pos"-led in the button OPEN
Martin1000 5:93f48c84e645 365 {
Martin1000 5:93f48c84e645 366 out_led_open = 1;
Martin1000 5:93f48c84e645 367 } else
Martin1000 5:93f48c84e645 368 {
Martin1000 5:93f48c84e645 369 out_led_open = 0;
Martin1000 5:93f48c84e645 370 }
Martin1000 5:93f48c84e645 371 //=====================================================================
Martin1000 5:93f48c84e645 372 if (endpos_close) // switching ON "end pos"-led in the button CLOSE
Martin1000 5:93f48c84e645 373 {
Martin1000 5:93f48c84e645 374 out_led_close = 1;
Martin1000 5:93f48c84e645 375 } else
Martin1000 5:93f48c84e645 376 {
Martin1000 5:93f48c84e645 377 out_led_close = 0;
Martin1000 5:93f48c84e645 378 }
Martin1000 5:93f48c84e645 379 }
Martin1000 5:93f48c84e645 380 // ----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 381 void state_to_usb(void)
Martin1000 5:93f48c84e645 382 {
Martin1000 5:93f48c84e645 383 new_value = (int)(button_open * 1 + button_close * 2 + endpos_open *
Martin1000 5:93f48c84e645 384 4 + endpos_close * 8 + switch_auto * 16 + auto_status *32);
Martin1000 5:93f48c84e645 385
Martin1000 5:93f48c84e645 386 if (new_value!= old_value)
Martin1000 5:93f48c84e645 387 { // state of inputs if new values different from former values
Martin1000 5:93f48c84e645 388
Martin1000 5:93f48c84e645 389 pc.printf("----------------------\r\n");
Martin1000 5:93f48c84e645 390 pc.printf("Button Open %d \r\n", (int)button_open);
Martin1000 5:93f48c84e645 391 pc.printf("Button Close %d \r\n", (int)button_close);
Martin1000 5:93f48c84e645 392 pc.printf("End Position Open %d \r\n", (int)endpos_open);
Martin1000 5:93f48c84e645 393 pc.printf("End Position Close %d \r\n", (int)endpos_close);
Martin1000 5:93f48c84e645 394 pc.printf("Switch Auto %d \r\n", (int)switch_auto);
Martin1000 5:93f48c84e645 395 pc.printf("auto status %d \r\n", (int)auto_status);
Martin1000 5:93f48c84e645 396
Martin1000 5:93f48c84e645 397
Martin1000 5:93f48c84e645 398 old_value = new_value;
Martin1000 5:93f48c84e645 399 }
Martin1000 5:93f48c84e645 400 out_led_status = !out_led_status;
Martin1000 5:93f48c84e645 401 wait(0.05);
Martin1000 5:93f48c84e645 402 }
Martin1000 5:93f48c84e645 403 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 404 void automatic(void)
Martin1000 5:93f48c84e645 405 {
Martin1000 5:93f48c84e645 406 switch (auto_status)
Martin1000 5:93f48c84e645 407 {
Martin1000 5:93f48c84e645 408 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 409 case 0:
Martin1000 5:93f48c84e645 410 lcd_output_auto0();
Martin1000 5:93f48c84e645 411 if (endpos_close)
Martin1000 5:93f48c84e645 412 {
Martin1000 5:93f48c84e645 413 auto_status = 1;
Martin1000 5:93f48c84e645 414 }
Martin1000 5:93f48c84e645 415 break;
Martin1000 5:93f48c84e645 416 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 417 case 1:
Martin1000 5:93f48c84e645 418 lcd_output_auto1();
Martin1000 5:93f48c84e645 419 if (endpos_close && button_open)
Martin1000 5:93f48c84e645 420 {
Martin1000 5:93f48c84e645 421 auto_status = 2; // forward to status 2
Martin1000 5:93f48c84e645 422 }
Martin1000 5:93f48c84e645 423 if (!endpos_close) // back to status 0
Martin1000 5:93f48c84e645 424 {
Martin1000 5:93f48c84e645 425 auto_status = 0;
Martin1000 5:93f48c84e645 426 }
Martin1000 5:93f48c84e645 427 break;
Martin1000 5:93f48c84e645 428 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 429 case 2:
Martin1000 5:93f48c84e645 430 lcd_output_auto1();
Martin1000 5:93f48c84e645 431 if (endpos_close && !button_open) // release start button
Martin1000 5:93f48c84e645 432 {
Martin1000 5:93f48c84e645 433 auto_status = 3;
Martin1000 5:93f48c84e645 434 }
Martin1000 5:93f48c84e645 435 if (!endpos_close) // back to status 0
Martin1000 5:93f48c84e645 436 {
Martin1000 5:93f48c84e645 437 auto_status = 0;
Martin1000 5:93f48c84e645 438 }
Martin1000 5:93f48c84e645 439 break;
Martin1000 5:93f48c84e645 440 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 441 case 3:
Martin1000 5:93f48c84e645 442 lcd_output_auto2();
Martin1000 5:93f48c84e645 443 if (endpos_close && !button_open) // release start button
Martin1000 5:93f48c84e645 444 {
Martin1000 5:93f48c84e645 445 wait(0.3);
Martin1000 5:93f48c84e645 446 auto_status = 4;
Martin1000 5:93f48c84e645 447 start_move = 1; //?
Martin1000 5:93f48c84e645 448 time_flag = 0;
Martin1000 5:93f48c84e645 449 }
Martin1000 5:93f48c84e645 450 break;
Martin1000 5:93f48c84e645 451 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 452 case 4:
Martin1000 5:93f48c84e645 453 lcd_output_auto2();
Martin1000 5:93f48c84e645 454 motor_auto(OPEN); // motor runs until
Martin1000 5:93f48c84e645 455 // a.) position is open
Martin1000 5:93f48c84e645 456 // b.) auto switch turned off
Martin1000 5:93f48c84e645 457 // c.) timeout reached
Martin1000 5:93f48c84e645 458 //
Martin1000 5:93f48c84e645 459 start_move = 0;
Martin1000 5:93f48c84e645 460 if (!endpos_close) // motor leave endpos close
Martin1000 5:93f48c84e645 461 {
Martin1000 5:93f48c84e645 462 x.reset();
Martin1000 5:93f48c84e645 463 x.start();
Martin1000 5:93f48c84e645 464 timeout_x_time = 0;
Martin1000 5:93f48c84e645 465
Martin1000 5:93f48c84e645 466 auto_status = 5;
Martin1000 5:93f48c84e645 467
Martin1000 5:93f48c84e645 468 }
Martin1000 5:93f48c84e645 469 break;
Martin1000 5:93f48c84e645 470 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 471 case 5:
Martin1000 5:93f48c84e645 472 lcd_output_auto2();
Martin1000 5:93f48c84e645 473 motor_auto(OPEN); // motor runs until
Martin1000 5:93f48c84e645 474 // a.) position is open
Martin1000 5:93f48c84e645 475 // b.) auto switch turned off
Martin1000 5:93f48c84e645 476 // c.) timeout reached
Martin1000 5:93f48c84e645 477 //
Martin1000 5:93f48c84e645 478
Martin1000 5:93f48c84e645 479 timeout_x_time = x.read();
Martin1000 5:93f48c84e645 480 if (timeout_x_time > timeouttime)
Martin1000 5:93f48c84e645 481 {
Martin1000 5:93f48c84e645 482 motor_off_auto();
Martin1000 5:93f48c84e645 483 out_led_status = 1;
Martin1000 5:93f48c84e645 484
Martin1000 5:93f48c84e645 485 }
Martin1000 5:93f48c84e645 486
Martin1000 5:93f48c84e645 487
Martin1000 5:93f48c84e645 488
Martin1000 5:93f48c84e645 489
Martin1000 5:93f48c84e645 490
Martin1000 5:93f48c84e645 491
Martin1000 5:93f48c84e645 492 if (endpos_open) // motor reach open position
Martin1000 5:93f48c84e645 493 {
Martin1000 5:93f48c84e645 494 motor_off_auto();
Martin1000 5:93f48c84e645 495 auto_status = 6;
Martin1000 5:93f48c84e645 496 }
Martin1000 5:93f48c84e645 497 break;
Martin1000 5:93f48c84e645 498 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 499 case 6:
Martin1000 5:93f48c84e645 500 lcd_output_auto2();
Martin1000 5:93f48c84e645 501 time_flag = 0;
Martin1000 5:93f48c84e645 502 if (endpos_open) //
Martin1000 5:93f48c84e645 503 {
Martin1000 5:93f48c84e645 504 auto_status = 7;
Martin1000 5:93f48c84e645 505 }
Martin1000 5:93f48c84e645 506 break;
Martin1000 5:93f48c84e645 507 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 508 case 7:
Martin1000 5:93f48c84e645 509 lcd_output_auto3();
Martin1000 5:93f48c84e645 510 if (!time_flag)
Martin1000 5:93f48c84e645 511 {
Martin1000 5:93f48c84e645 512 t.reset();
Martin1000 5:93f48c84e645 513 t.start();
Martin1000 5:93f48c84e645 514 time_flag = 1;
Martin1000 5:93f48c84e645 515 elapsed_time = 0;
Martin1000 5:93f48c84e645 516 }
Martin1000 5:93f48c84e645 517 elapsed_time = t.read();
Martin1000 5:93f48c84e645 518 if (elapsed_time > pause_time)
Martin1000 5:93f48c84e645 519 {
Martin1000 5:93f48c84e645 520 auto_status = 8;
Martin1000 5:93f48c84e645 521 time_flag = 0;
Martin1000 5:93f48c84e645 522 }
Martin1000 5:93f48c84e645 523 break;
Martin1000 5:93f48c84e645 524 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 525 case 8:
Martin1000 5:93f48c84e645 526 lcd_output_auto2();
Martin1000 5:93f48c84e645 527 motor_auto(CLOSE); // motor runs until
Martin1000 5:93f48c84e645 528 // a.) position is open
Martin1000 5:93f48c84e645 529 // b.) auto switch turned off
Martin1000 5:93f48c84e645 530 // c.) timeout reached
Martin1000 5:93f48c84e645 531 if (!endpos_open)
Martin1000 5:93f48c84e645 532 {
Martin1000 5:93f48c84e645 533 auto_status = 9;
Martin1000 5:93f48c84e645 534 }
Martin1000 5:93f48c84e645 535 break;
Martin1000 5:93f48c84e645 536 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 537 case 9:
Martin1000 5:93f48c84e645 538 lcd_output_auto2();
Martin1000 5:93f48c84e645 539 motor_auto(CLOSE); // motor runs until
Martin1000 5:93f48c84e645 540 // a.) position is open
Martin1000 5:93f48c84e645 541 // b.) auto switch turned off
Martin1000 5:93f48c84e645 542 // c.) timeout reached
Martin1000 5:93f48c84e645 543 if (endpos_close)
Martin1000 5:93f48c84e645 544 {
Martin1000 5:93f48c84e645 545 motor_off_auto();
Martin1000 5:93f48c84e645 546 auto_status = 10;
Martin1000 5:93f48c84e645 547 time_flag = 0;
Martin1000 5:93f48c84e645 548 auto_cycle++;
Martin1000 5:93f48c84e645 549 if (auto_cycle > 100000) auto_cycle = 0;
Martin1000 5:93f48c84e645 550 }
Martin1000 5:93f48c84e645 551 break;
Martin1000 5:93f48c84e645 552 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 553 case 10:
Martin1000 5:93f48c84e645 554 lcd_output_auto3();
Martin1000 5:93f48c84e645 555 if (!time_flag)
Martin1000 5:93f48c84e645 556 {
Martin1000 5:93f48c84e645 557 t.reset();
Martin1000 5:93f48c84e645 558 t.start();
Martin1000 5:93f48c84e645 559 time_flag = 1;
Martin1000 5:93f48c84e645 560 elapsed_time = 0;
Martin1000 5:93f48c84e645 561 }
Martin1000 5:93f48c84e645 562 elapsed_time = t.read();
Martin1000 5:93f48c84e645 563 if (elapsed_time > pause_time)
Martin1000 5:93f48c84e645 564 {
Martin1000 5:93f48c84e645 565 auto_status = 11;
Martin1000 5:93f48c84e645 566 time_flag = 0;
Martin1000 5:93f48c84e645 567 }
Martin1000 5:93f48c84e645 568 break;
Martin1000 5:93f48c84e645 569 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 570 case 11:
Martin1000 5:93f48c84e645 571 lcd_output_auto2();
Martin1000 5:93f48c84e645 572 if (endpos_close)
Martin1000 5:93f48c84e645 573 {
Martin1000 5:93f48c84e645 574 auto_status = 2;
Martin1000 5:93f48c84e645 575 }
Martin1000 5:93f48c84e645 576 break;
Martin1000 5:93f48c84e645 577 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 578 default:
Martin1000 5:93f48c84e645 579 break;
Martin1000 5:93f48c84e645 580 }
Martin1000 5:93f48c84e645 581 }
Martin1000 5:93f48c84e645 582 // -----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 583 void motor_manual(int direction)
Martin1000 5:93f48c84e645 584 {
Martin1000 5:93f48c84e645 585 if (!time_flag)
Martin1000 5:93f48c84e645 586 {
Martin1000 5:93f48c84e645 587 t.reset();
Martin1000 5:93f48c84e645 588 t.start();
Martin1000 5:93f48c84e645 589 time_flag = 1;
Martin1000 5:93f48c84e645 590 elapsed_time = 0;
Martin1000 5:93f48c84e645 591 }
Martin1000 5:93f48c84e645 592 elapsed_time = t.read();
Martin1000 5:93f48c84e645 593 gradient = (duty_cycle_percent-10.0f)/ramp_time;
Martin1000 5:93f48c84e645 594
Martin1000 5:93f48c84e645 595 if (elapsed_time < ramp_time)
Martin1000 5:93f48c84e645 596 {
Martin1000 5:93f48c84e645 597 duty_cycle_current = 10.0 + elapsed_time * gradient;
Martin1000 5:93f48c84e645 598 }
Martin1000 5:93f48c84e645 599 else
Martin1000 5:93f48c84e645 600 {
Martin1000 5:93f48c84e645 601 duty_cycle_current = duty_cycle_percent;
Martin1000 5:93f48c84e645 602 }
Martin1000 5:93f48c84e645 603 if (direction == OPEN)
Martin1000 5:93f48c84e645 604 {
Martin1000 5:93f48c84e645 605 pwm_open.write(duty_cycle_current/100.0f);
Martin1000 5:93f48c84e645 606 }
Martin1000 5:93f48c84e645 607 if (direction == CLOSE)
Martin1000 5:93f48c84e645 608 {
Martin1000 5:93f48c84e645 609 pwm_close.write(duty_cycle_current/100.0f);
Martin1000 5:93f48c84e645 610 }
Martin1000 5:93f48c84e645 611 lcd_output_manual();
Martin1000 5:93f48c84e645 612 }
Martin1000 5:93f48c84e645 613 // ----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 614 void motor_auto(int direction)
Martin1000 5:93f48c84e645 615 {
Martin1000 5:93f48c84e645 616 dir = direction;
Martin1000 5:93f48c84e645 617
Martin1000 5:93f48c84e645 618 if (!time_flag)
Martin1000 5:93f48c84e645 619 {
Martin1000 5:93f48c84e645 620 t.reset();
Martin1000 5:93f48c84e645 621 t.start();
Martin1000 5:93f48c84e645 622 time_flag = 1;
Martin1000 5:93f48c84e645 623 elapsed_time = 0;
Martin1000 5:93f48c84e645 624 }
Martin1000 5:93f48c84e645 625
Martin1000 5:93f48c84e645 626 elapsed_time = t.read();
Martin1000 5:93f48c84e645 627 gradient = (duty_cycle_percent-10.0f)/ramp_time;
Martin1000 5:93f48c84e645 628
Martin1000 5:93f48c84e645 629 if (elapsed_time < ramp_time)
Martin1000 5:93f48c84e645 630 {
Martin1000 5:93f48c84e645 631 duty_cycle_current = 10.0 + elapsed_time * gradient;
Martin1000 5:93f48c84e645 632 }
Martin1000 5:93f48c84e645 633 else
Martin1000 5:93f48c84e645 634 {
Martin1000 5:93f48c84e645 635 duty_cycle_current = duty_cycle_percent;
Martin1000 5:93f48c84e645 636 }
Martin1000 5:93f48c84e645 637 if (direction == OPEN)
Martin1000 5:93f48c84e645 638 {
Martin1000 5:93f48c84e645 639 pwm_open.write(duty_cycle_current/100.0f);
Martin1000 5:93f48c84e645 640 }
Martin1000 5:93f48c84e645 641 if (direction == CLOSE)
Martin1000 5:93f48c84e645 642 {
Martin1000 5:93f48c84e645 643 pwm_close.write(duty_cycle_current/100.0f);
Martin1000 5:93f48c84e645 644 }
Martin1000 5:93f48c84e645 645 }
Martin1000 5:93f48c84e645 646 // ----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 647 void motor_off_auto(void)
Martin1000 5:93f48c84e645 648 {
Martin1000 5:93f48c84e645 649 duty_cycle_current = 0;
Martin1000 5:93f48c84e645 650 pwm_close.write(0);
Martin1000 5:93f48c84e645 651 pwm_open.write(0);
Martin1000 5:93f48c84e645 652 }
Martin1000 5:93f48c84e645 653 // ----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 654 void motor_off(void)
Martin1000 5:93f48c84e645 655 {
Martin1000 5:93f48c84e645 656 duty_cycle_current = 0;
Martin1000 5:93f48c84e645 657 pwm_close.write(0);
Martin1000 5:93f48c84e645 658 pwm_open.write(0);
Martin1000 5:93f48c84e645 659 lcd_output_manual();
Martin1000 5:93f48c84e645 660 }
Martin1000 5:93f48c84e645 661 // ----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 662 void manual_mode(void)
Martin1000 5:93f48c84e645 663 {
Martin1000 5:93f48c84e645 664 auto_status = 0;
Martin1000 5:93f48c84e645 665 //-----------------------------------
Martin1000 5:93f48c84e645 666 if(button_open && !endpos_open)
Martin1000 5:93f48c84e645 667 {
Martin1000 5:93f48c84e645 668 motor_manual(OPEN);
Martin1000 5:93f48c84e645 669 off_flag = 0;
Martin1000 5:93f48c84e645 670 }
Martin1000 5:93f48c84e645 671 //-----------------------------------
Martin1000 5:93f48c84e645 672 if(button_close && !endpos_close)
Martin1000 5:93f48c84e645 673 {
Martin1000 5:93f48c84e645 674 motor_manual(CLOSE);
Martin1000 5:93f48c84e645 675 off_flag = 0;
Martin1000 5:93f48c84e645 676 }
Martin1000 5:93f48c84e645 677 //-----------------------------------
Martin1000 5:93f48c84e645 678 if (off_flag)
Martin1000 5:93f48c84e645 679 {
Martin1000 5:93f48c84e645 680 motor_off();
Martin1000 5:93f48c84e645 681 off_flag = 0;
Martin1000 5:93f48c84e645 682 time_flag = 0;
Martin1000 5:93f48c84e645 683 }
Martin1000 5:93f48c84e645 684 }
Martin1000 5:93f48c84e645 685 // ----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 686 // ----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 687 // ----------------------------------------------------------------------------
Martin1000 5:93f48c84e645 688 int main()
Martin1000 5:93f48c84e645 689 {
Martin1000 5:93f48c84e645 690 initialize();
Martin1000 5:93f48c84e645 691 lcd_output_start();
Martin1000 5:93f48c84e645 692 while (1)
Martin1000 5:93f48c84e645 693 {
Martin1000 5:93f48c84e645 694 read_inputs();
Martin1000 5:93f48c84e645 695 state_to_usb();
Martin1000 5:93f48c84e645 696 monitor_output();
Martin1000 5:93f48c84e645 697 endpos_led();
Martin1000 5:93f48c84e645 698
Martin1000 5:93f48c84e645 699 off_flag = 1; // to prevent display flicker
Martin1000 5:93f48c84e645 700
Martin1000 5:93f48c84e645 701 if (!switch_auto) // manual mode
Martin1000 5:93f48c84e645 702 {
Martin1000 5:93f48c84e645 703 manual_mode();
Martin1000 5:93f48c84e645 704 }
Martin1000 5:93f48c84e645 705 if (switch_auto) // auto mode
Martin1000 5:93f48c84e645 706 {
Martin1000 5:93f48c84e645 707 automatic();
Martin1000 5:93f48c84e645 708 }
Martin1000 5:93f48c84e645 709 }
Martin1000 5:93f48c84e645 710 }