andrea/AUTOM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

creata timeline con tempi in decimi

Browse Source
This commit is contained in:
andrea
2026-05-02 13:05:31 +02:00
parent a9e6c6c640
commit 18437a0c9c
120 changed files with 234587 additions and 64394 deletions
Download Patch File Download Diff File Expand all files Collapse all files

312
workspace/AUTOM10/Core/Src/main.c
View File

@@ -28,6 +28,7 @@
#include "pwm.h"
#include "adc.h"
#include "debug.h"
#include "mot.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -38,27 +39,13 @@ typedef enum{
bzmoving,
bzwarning,
}stBuz_st;
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define P1START 0x01
#define P1STOP 0x02
#define P2START 0x04
#define P2STOP 0x08
#define M1FW 0x10
#define M1BW 0x20
#define M2FW 0x40
#define M2BW 0x80
#define M3FW 0x100
#define M3BW 0x200
#define M4FW 0x400
#define M4BW 0x800
#define M1 1
#define M2 2
#define M3 3
#define M4 4
/* USER CODE END PD */
@@ -104,10 +91,10 @@ uint16_t t2ap;
uint16_t t3ap;
uint16_t t4ap;
uint16_t twap;
uint16_t t1ch;
uint16_t t2ch;
uint16_t t3ch;
uint16_t t4ch;
uint16_t m1TimeoutMan;
uint16_t m2TimeoutMan;
uint16_t m3TimeoutMan;
uint16_t m4TimeoutMan;
uint16_t twch;
uint16_t tramp;
uint16_t tramp1;
@@ -117,6 +104,24 @@ uint16_t m2pwmMan;
uint16_t m3pwmMan;
uint16_t m4pwmMan;
uint16_t apM1start;
uint16_t apM1stop;
uint16_t apM2start;
uint16_t apM2stop;
uint16_t apM3start;
uint16_t apM3stop;
uint16_t apM4start;
uint16_t apM4stop;
uint16_t chM1start;
uint16_t chM1stop;
uint16_t chM2start;
uint16_t chM2stop;
uint16_t chM3start;
uint16_t chM3stop;
uint16_t chM4start;
uint16_t chM4stop;
uint16_t mrampstart[4];
uint16_t stPulsanti=0;
omCiclo_st stCiclo=omchiuso;
@@ -170,6 +175,8 @@ void HAL_SYSTICK_Callback(void){
for(i=0;i<4;i++){
if(rtramp[i])rtramp[i]--;
}
if(rtCiclo<0xffff)rtCiclo++;
//**** gestione buzzer *****************************************************************************
if(stBuz==bzmoving){
if(c1s>=5)HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);else HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_SET);
@@ -179,9 +186,8 @@ void HAL_SYSTICK_Callback(void){
HAL_GPIO_WritePin(GPIOA, BUZ_Pin, GPIO_PIN_RESET);
}
//**************************************************************************************************
if (++c1s >= 10) { // 10 ms
if (++c1s >= 10) { // 1 s
c1s = 0;
if(rtCiclo)rtCiclo--;
HAL_GPIO_TogglePin(LED2_GPIO_Port, LED2_Pin);
}
}
@@ -244,105 +250,89 @@ void manageCiclo(void){
case omchiuso:
if(stPulsanti&P1START){
stBuz=bzwarning;
rtCiclo=3;
rtCiclo=0;
stCiclo=omapertura0;
(void)m1ap();(void)m2ap();(void)m3ap();(void)m4ap();
}else if(stPulsanti&P1STOP)stCiclo=omstopapertura;
// else if(stPulsanti&M1FW){
// stBuz=bzmoving;
// (void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
// stCiclo=omM1fw1;
// }else if(stPulsanti&M1BW){
// stBuz=bzmoving;
// (void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPINIT);
// stCiclo=omM1bw1;
// }else if(stPulsanti&M2FW){
// stBuz=bzmoving;
// (void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
// stCiclo=omM2fw1;
// }else if(stPulsanti&M2BW){
// stBuz=bzmoving;
// (void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPINIT);
// stCiclo=omM2bw1;
// }else if(stPulsanti&M3FW){
// stBuz=bzmoving;
// (void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
// stCiclo=omM3fw1;
// }else if(stPulsanti&M3BW){
// stBuz=bzmoving;
// (void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPINIT);
// stCiclo=omM3bw1;
// }else if(stPulsanti&M4FW){
// stBuz=bzmoving;
// (void)ramp(M4,FW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
// stCiclo=omM4fw1;
// }else if(stPulsanti&M4BW){
// stBuz=bzmoving;
// (void)ramp(M4,BW,mrampstart[M4-1],m3pwmMan,trampman,RAMPINIT);
// stCiclo=omM4bw1;
// }
break;
case omM1fw1:
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
if(pulsanti==0)stCiclo=omM1fw2;
break;
case omM1fw2:
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
if(pulsanti)stCiclo=omStopMan;
break;
case omM1bw1:
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
if(pulsanti==0)stCiclo=omM1bw2;
break;
case omM1bw2:
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m1TimeoutMan)stCiclo=omStopMan;
if(pulsanti)stCiclo=omStopMan;
break;
case omM2fw1:
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
if(pulsanti==0)stCiclo=omM2fw2;
break;
case omM2fw2:
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
if(pulsanti)stCiclo=omStopMan;
break;
case omM2bw1:
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
if(pulsanti==0)stCiclo=omM2bw2;
break;
case omM2bw2:
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m2TimeoutMan)stCiclo=omStopMan;
if(pulsanti)stCiclo=omStopMan;
break;
case omM3fw1:
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
if(pulsanti==0)stCiclo=omM3fw2;
break;
case omM3fw2:
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
if(pulsanti)stCiclo=omStopMan;
break;
case omM3bw1:
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
if(pulsanti==0)stCiclo=omM3bw2;
break;
case omM3bw2:
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m3TimeoutMan)stCiclo=omStopMan;
if(pulsanti)stCiclo=omStopMan;
break;
case omM4fw1:
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
if(pulsanti==0)stCiclo=omM4fw2;
break;
case omM4fw2:
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
if(pulsanti)stCiclo=omStopMan;
break;
case omM4bw1:
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
if(pulsanti==0)stCiclo=omM4bw2;
break;
case omM4bw2:
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmMan,trampman,RAMPRUN);
if(rtCiclo>=m4TimeoutMan)stCiclo=omStopMan;
if(pulsanti)stCiclo=omStopMan;
break;
case omStopMan:
@@ -360,108 +350,12 @@ void manageCiclo(void){
}
break;
case omapertura0:
if(rtCiclo==0){
if(rtCiclo>=30){//doppo 3 secondi
stBuz=bzmoving;
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
stCiclo=omapertura1;
}
break;
case omapertura1:
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
rtCiclo=t1ap;
stCiclo=omapertura2;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura2:
if(rtCiclo==0){
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
stCiclo=omapertura3;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura3:
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
rtCiclo=twap;
stCiclo=omapertura4;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura4:
if(rtCiclo==0){
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
stCiclo=omapertura5;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura5:
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
rtCiclo=t2ap;
stCiclo=omapertura6;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura6:
if(rtCiclo==0){
(void)ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPINIT);
stCiclo=omapertura7;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura7:
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
rtCiclo=t3ap;
stCiclo=omapertura8;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura8:
if(rtCiclo==0){
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
stCiclo=omapertura9;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura9:
if((ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE)){
rtCiclo=twap;
stCiclo=omapertura10;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura10:
if(rtCiclo==0){
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPINIT);
stCiclo=omapertura11;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura11:
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
rtCiclo=t4ap;
stCiclo=omapertura12;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura12:
if(rtCiclo==0){
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
stCiclo=omapertura13;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura13:
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
rtCiclo=twap;
stCiclo=omapertura14;
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
case omapertura14:
if((rtCiclo==0)&&(pulsanti==0)){
stBuz=bzoff;
stCiclo=omaperto;
if((m1ap()==motStop)&&(m2ap()==motStop)&&(m3ap()==motStop)&&(m4ap()==motStop)){
stBuz=bzoff;
stCiclo=omaperto;
}
}
if(stPulsanti&P1STOP)stCiclo=omstopapertura;
break;
@@ -477,10 +371,12 @@ void manageCiclo(void){
}
break;
case omaperto:
rtCiclo=0;
if(stPulsanti&P1START){
stBuz=bzmoving;
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
stCiclo=omchiusura1;
(void)m1ch();(void)m2ch();(void)m3ch();(void)m4ch();
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
else if(stPulsanti&M1FW){
@@ -518,105 +414,15 @@ void manageCiclo(void){
}
break;
case omchiusura1:
if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
rtCiclo=t4ch;
stCiclo=omchiusura2;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura2:
if(rtCiclo==0){
(void)ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPINIT);
stCiclo=omchiusura3;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura3:
if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
rtCiclo=t1ch;
stCiclo=omchiusura4;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura4:
if(rtCiclo==0){
(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
stCiclo=omchiusura5;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura5:
if((ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE)&&(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE)){
rtCiclo=twch;
stCiclo=omchiusura6;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura6:
if(rtCiclo==0){
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
stCiclo=omchiusura7;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura7:
if((ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE)&&(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE)){
rtCiclo=t3ch;
stCiclo=omchiusura8;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura8:
if(rtCiclo==0){
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
stCiclo=omchiusura9;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura9:
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
rtCiclo=t2ch;
stCiclo=omchiusura10;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura10:
if(rtCiclo==0){
(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
stCiclo=omchiusura11;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura11:
if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
rtCiclo=twch;
stCiclo=omchiusura14;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura12:
if(rtCiclo==0){
//(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
stCiclo=omchiusura14;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura13:
if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
rtCiclo=twch;
stCiclo=omchiusura14;
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omchiusura14:
if((rtCiclo==0)&&(pulsanti==0)){
stBuz=bzoff;
stCiclo=omchiuso;
if(rtCiclo>=10){//doppo 1 secondi
if((m1ch()==motStop)&&(m2ch()==motStop)&&(m3ch()==motStop)&&(m4ch()==motStop)){
stBuz=bzoff;
stCiclo=omchiuso;
}
}
if(stPulsanti&P1STOP)stCiclo=omstopchiusura;
break;
case omstopchiusura:
SetMotPerc(M1,FW,0);
SetMotPerc(M2,FW,0);